/// <summary>
/// Project an affine 3D transformation matrix to a 2D projective transformation matrix.
/// Instance represents: 3x4 3D transformation matrix.
/// </summary>
/// <param name="principalPointRow">Row coordinate of the principal point. Default: 256</param>
/// <param name="principalPointCol">Column coordinate of the principal point. Default: 256</param>
/// <param name="focus">Focal length in pixels. Default: 256</param>
/// <returns>Homogeneous projective transformation matrix.</returns>
public HHomMat2D HomMat3dProject(
HTuple principalPointRow,
HTuple principalPointCol,
HTuple focus)
{
IntPtr proc = HalconAPI.PreCall(254);
this.Store(proc, 0);
HalconAPI.Store(proc, 1, principalPointRow);
HalconAPI.Store(proc, 2, principalPointCol);
HalconAPI.Store(proc, 3, focus);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
this.UnpinTuple();
HalconAPI.UnpinTuple(principalPointRow);
HalconAPI.UnpinTuple(principalPointCol);
HalconAPI.UnpinTuple(focus);
HHomMat2D hhomMat2D;
int procResult = HHomMat2D.LoadNew(proc, 0, err, out hhomMat2D);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
return(hhomMat2D);
}
public override HMessage ActorTask(HMessage imsg)
{
HTuple row, column, angle, score;
HImage img = new HImage(imsg.GetMessageObj("image"));
if (sbm == null)
{
return(GenFinishMessage());
}
HMessage msg = new HMessage();
msg.SetMessageObj(img, "image");
Monitor.Enter(lockobj);
try
{
sbm.FindShapeModel(img, -Math.PI, 2 * Math.PI, 0.5, 1, 0.5,
"least_squares", 0, 0.9, out row, out column, out angle, out score);
if (row.Length > 0)
{
HXLDCont contours = sbm.GetShapeModelContours(1);
HHomMat2D homMat2D = new HHomMat2D();
homMat2D.VectorAngleToRigid(0.0, 0.0, 0.0, row.D, column.D, angle.D);
HXLDCont projcont = homMat2D.AffineTransContourXld(contours);
msg.SetMessageObj(projcont, "contour");
}
}
finally
{
Monitor.Exit(lockobj);
}
imsg.Dispose();
return(msg);
}
private void AffineTransModelContour(HShapeModel model, HRegion modelRegion)
{
if (model != null && modelRegion != null)
{
try
{
//获取金字塔第一层轮廓
HXLDCont modelContour = model.GetShapeModelContours(1);
double num3, num4;
modelRegion.AreaCenter(out num3, out num4);
HHomMat2D matd = new HHomMat2D();
matd.VectorAngleToRigid(0.0, 0.0, 0.0, num3, num4, 0.0);
HXLD affterAffineModelXLD = matd.AffineTransContourXld(modelContour);
if (info.IsShowModelXLD)
{
Window.SetColor("green");
affterAffineModelXLD.DispXld(Window.Window);
}
}
catch (Exception e)
{
WriteErrorLog("VisionTool", e.ToString());
}
}
}
private void ReadCalibData()
{
if (System.IO.File.Exists("./Model/Calib.dat"))
{
BinaryReader br;
br = new BinaryReader(new FileStream("./Model/Calib.dat", FileMode.Open));
HTuple Image_X = new HTuple(), Image_Y = new HTuple(), Robot_X = new HTuple(), Robot_Y = new HTuple();
int Num = (int)br.ReadDouble();
for (int i = 0; i < Num; i++)
{
DataGridViewRow row = new DataGridViewRow();
int Count = Calib_dataView.Rows.Add(row);
double i_x = br.ReadDouble();
double i_y = br.ReadDouble();
double r_x = br.ReadDouble();
double r_y = br.ReadDouble();
Calib_dataView.Rows[Count].Cells[0].Value = i_x;
Calib_dataView.Rows[Count].Cells[1].Value = i_y;
Calib_dataView.Rows[Count].Cells[2].Value = r_x;
Calib_dataView.Rows[Count].Cells[3].Value = r_y;
Image_X = Image_X.TupleConcat(i_x);
Image_Y = Image_Y.TupleConcat(i_y);
Robot_X = Robot_X.TupleConcat(r_x);
Robot_Y = Robot_Y.TupleConcat(r_y);
}
try
{
RobotHommat = new HHomMat2D();
RobotHommat.VectorToHomMat2d(Image_X, Image_Y, Robot_X, Robot_Y);
}
catch {
RobotHommat = null;
}
}
}
public bool WaitForClickPoints(double x, double y)
{
if (_clickedPointsPositionList.Count < _clickPoints)
{
_clickedPointsPositionList.Add(new PositionModel()
{
ColBegin = x, RowBegin = y
});
}
_initPointsDone = _clickedPointsPositionList.Count == _clickPoints;
if (_initPointsDone)
{
//產生 Rectangle 資訊
midR = _clickedPointsPositionList.Average(p => p.RowBegin);
midC = _clickedPointsPositionList.Average(p => p.ColBegin);
length1 = _smartWidth;
length2 = _smartWidth;
//決定角度
phi = 0.0;
rowsInit = new HTuple(new double[] { -1.0, -1.0, 1.0,
1.0, 0.0, 0.0 });
colsInit = new HTuple(new double[] { -1.0, 1.0, 1.0,
-1.0, 0.0, 0.6 });
//order ul , ur, lr, ll, mp, arrowMidpoint
hom2D = new HHomMat2D();
tmp = new HHomMat2D();
updateHandlePos();
}
return(_initPointsDone);
}
/// <summary>
/// Initializes flags, lists, and delegates to have a valid
/// starting point to start the assistant.
/// </summary>
public MatchingAssistant(MatchingParam parSet)
{
parameterSet = parSet;
NotifyIconObserver = new MatchingDelegate(dummy);
NotifyParamObserver = new AutoParamDelegate(dummyS);
homSc2D = new HHomMat2D();
TestImages = new Hashtable(10);
tResult = new MatchingResult();
contrastLowB = 0;
contrastUpB = 255;
scaleStepLowB = 0.0;
scaleStepUpB = (double)19.0 / 1000.0;
angleStepLowB = 0.0;
angleStepUpB = (double)(112.0 / 10.0) * Math.PI / 180.0;
pyramLevLowB = 1;
pyramLevUpB = 6;
minContrastLowB = 0;
minContrastUpB = 30;
findAlways = false;
createNewModelID = true;
ModelID = new HShapeModel();
onExternalModelID = false;
}
//仿射变换后的全部轮廓
public void GenDetectionXLDResults(HXLDCont modelXldCont)
{
if (resultXLDCont == null)
{
resultXLDCont = new HXLDCont();
}
if (resultXLDCont != null && resultXLDCont.IsInitialized())
{
resultXLDCont.Dispose();
}
resultXLDCont.GenEmptyObj();
HXLDCont rContours;
for (int i = 0; i < row.Length; i++)
{
HHomMat2D mat1 = new HHomMat2D();
mat1.VectorAngleToRigid(0, 0, 0, row[i].D, column[i].D, angle[i].D);
mat1 = mat1.HomMat2dScale(scale[i].D, scale[i].D, row[i].D, column[i].D);
//图像偏移
rContours = mat1.AffineTransContourXld(modelXldCont);
//获取模板集合
resultXLDCont = resultXLDCont.ConcatObj(rContours);
rContours.Dispose();
rContours.GenCrossContourXld(row[i].D, column[i].D, 10, angle[i].D);
resultXLDCont = resultXLDCont.ConcatObj(rContours);
rContours.Dispose();
}
}
public override DrawROIable AffineTransROI(HHomMat2D homMat2D)
{
double row = homMat2D.AffineTransPoint2d(Row, Column, out double column);
homMat2D.HomMat2dToAffinePar(out double sy, out double phi, out double theta, out double tx, out double ty);
return(new DrawEllipse(row, column, Phi + phi, Radius1, Radius2));
}
public override DrawROIable AffineTransROI(HHomMat2D homMat2D)
{
double row = homMat2D.AffineTransPoint2d(Row, Colulmn, out double column);
homMat2D.HomMat2dToAffinePar(out double sy, out double phi, out double theta, out double tx, out double ty);
return(new DrawRectangle2(row, column, Phi + phi, Length1, Length2));
}
public void GenDetectionRegionResult(HRegion modelRegion)
{
if (resultRegion == null)
{
resultRegion = new HRegion();
}
if (resultRegion != null && resultRegion.IsInitialized())
{
resultRegion.Dispose();
}
resultRegion.GenEmptyObj();
HRegion temp = new HRegion();
for (int i = 0; i < row.Length; i++)
{
HHomMat2D mat1 = new HHomMat2D();
mat1.VectorAngleToRigid(
createShapeModel.refCoordinates[0].D,
createShapeModel.refCoordinates[1].D,
createShapeModel.refCoordinates[2].D,
row[i].D, column[i].D, angle[i].D);
mat1 = mat1.HomMat2dScale(scale[i].D, scale[i].D, row[i].D, column[i].D);
//图像偏移
temp = mat1.AffineTransRegion(modelRegion, "nearest_neighbor");
//获取模板集合
resultRegion = resultRegion.ConcatObj(temp);
temp.Dispose();
}
}
public HXLDCont CreateShapeModel(HImage img, ModelParameter modelParameter, out HShapeModel model)
{
model = new HShapeModel(
img,
modelParameter.numLevels,
modelParameter.angleStart,
modelParameter.angleExtent,
modelParameter.angleStep,
modelParameter.scaleMin,
modelParameter.scaleMax,
modelParameter.scaleStep,
modelParameter.optimization,
modelParameter.metric,
modelParameter.contrast,
modelParameter.minContrast);
var modelContours = Model.GetShapeModelContours(1);
var homMat2D = new HHomMat2D();
homMat2D.VectorAngleToRigid(0, 0, 0, ModelRegion.Row, ModelRegion.Column, 0);
var contoursAffinTrans = modelContours.AffineTransContourXld(homMat2D);
return(contoursAffinTrans);
}
public void AffineTransPoint()
{
TransLocationCross.Clear();
ShapeMatchResult matchResult = Shape.OutputResult;
for (int i = 0; i < matchResult.Count; i++)
{
HHomMat2D mat2d = new HHomMat2D();
mat2d.VectorAngleToRigid(Shape.ModelImgRow, Shape.ModelImgCol, Shape.ModelimgAng,
matchResult.Row[i].D, matchResult.Col[i].D, matchResult.Angle[i].D);
PointF[] fs = Array.ConvertAll <Cross, PointF>(locationCross.GetAllPointFs(), e => e.Pixel);
HTuple tx, ty;
HOperatorSet.AffineTransPoint2d(mat2d,
Array.ConvertAll <PointF, double>(fs, e => e.Y).ToArray(),
Array.ConvertAll <PointF, double>(fs, e => e.X).ToArray(),
out ty,
out tx);
for (int m = 0; m < locationCross.Count; m++)
{
Cross cross = new Cross();
cross.Pixel = new PointF(tx[m].F, ty[m].F);
cross.Angle = matchResult.Angle[m].D;
cross.Color = "green";
TransLocationCross.Add(cross);
}
}
}
public void BuildTransferMatrix()
{
HTuple hv_machineY = new HTuple(), hv_machineX = new HTuple();
HTuple hv_imageY = new HTuple(), hv_imageX = new HTuple();
int count = Math.Min(ImgPoints.Length, MachinePoints.Length);
if (count < 2)
{
return;
}
for (int i = 0; i < count; i++)
{
hv_machineX[i] = MachinePoints[i].X;
hv_machineY[i] = MachinePoints[i].Y;
hv_imageX[i] = ImgPoints[i].X;
hv_imageY[i] = ImgPoints[i].Y;
}
try
{
Mat2D.VectorToSimilarity(hv_imageX, hv_imageY, hv_machineX, hv_machineY);
var v = Scaling;
IsBuiltted = true;
}
catch (Exception)
{
Mat2D = new HHomMat2D();
IsBuiltted = false;
}
}
private double DistanceToClosestHandle2(double row, double col)
{
HTuple data = base.GetModeData();
double[] val = new double[_numHandles];
val[0] = HalconDotNet.HMisc.DistancePp(row, col, data[0], data[1]);
for (int i = 1; i < _numHandles; i++)
{
val[i] = 99999;
}
HHomMat2D mat2D = new HHomMat2D();
HTuple init_Arrow_Row = data[0];
HTuple init_Arrow_Col = data[1] + data[3] * 0.8;
mat2D = mat2D.HomMat2dRotate(data[2].D, data[0], data[1]);
double arrow_Row;
double arrow_Col;
arrow_Row = mat2D.AffineTransPoint2d(init_Arrow_Row, init_Arrow_Col, out arrow_Col);
val[_numHandles - 1] = HalconDotNet.HMisc.DistancePp(row, col, arrow_Row, arrow_Col);
double minvalue = 0.0;
int idx = 0;
if (this.MinValueAndIndex(val, out minvalue, out idx))
{
this._activeHandleIdx = idx;
}
return(minvalue);
}
public override DrawROIable AffineTransROI(HHomMat2D homMat2D)
{
double row1 = homMat2D.AffineTransPoint2d(Row1, Column1, out double column1);
double row2 = homMat2D.AffineTransPoint2d(Row2, Column2, out double column2);
return(new DrawRectangle1(row1, column1, row2, column2));
}
public override DrawROIable AffineTransROI(HHomMat2D homMat2D)
{
double startRow = homMat2D.AffineTransPoint2d(StartRow, StartColumn, out double startColumn);
double endRow = homMat2D.AffineTransPoint2d(EndColumn, EndRow, out double endColumn);
return(new DrawLine(startRow, startColumn, endRow, endColumn));
}
} //end of method
/// <summary>
/// Auxiliary method to recalculate the contour points of
/// the rectangle by transforming the initial row and
/// column coordinates (rowsInit, colsInit) by the updated
/// homography hom2D
/// </summary>
private void updateHandlePos()
{
hom2D.HomMat2dIdentity();
hom2D = hom2D.HomMat2dTranslate(midC, midR);
hom2D = hom2D.HomMat2dRotateLocal(phi);
tmp = hom2D.HomMat2dScaleLocal(length1, length2);
cols = tmp.AffineTransPoint2d(colsInit, rowsInit, out rows);
}
public void ReverseTransPoint2d(HTuple x, HTuple y, out HTuple tx, out HTuple ty)
{
HHomMat2D mat2D = matrix.HomMat2dInvert();
Debug.Assert((x != null) && (y != null));
Debug.Assert(x.Length == y.Length, string.Format("输入参数长度错误：x={0},Y={1}", x.Length, y.Length));
HOperatorSet.AffineTransPoint2d(mat2D, x, y, out tx, out ty);
}
/// <summary>
/// 获取校正轴矩阵
/// </summary>
/// <returns></returns>
public HHomMat2D getHomAxis()
{
HHomMat2D homA = new HHomMat2D();
homA = homA.HomMat2dRotateLocal(PhiX);
//homA = homA.HomMat2dSlantLocal(-PhiY, "y");
return(homA);
}
/// <summary>
/// 获取校正图片矩阵
/// </summary>
/// <returns></returns>
public HHomMat2D getHomImg()
{
HHomMat2D hom = new HHomMat2D();
//hom = hom.HomMat2dRotateLocal(PhiX);
hom = hom.HomMat2dScaleLocal(ScaleX, ScaleY);
//hom=hom.HomMat2dTranslate(Y * Math.Sin(PhiX), X * Math.Sin(PhiX));//有待验证
return(hom);
}
public void ClearCalibrationData()
{
CalibrateData.Clear();
PixelToWorld = new HHomMat2D();
WorldToPixel = new HHomMat2D();
IsBuiltted = false;
OnChangeCalibrateData();
}
/// <summary>
///更新操作点
/// </summary>
private void updateHandlePos()
{
_hom2D.HomMat2dIdentity();
_hom2D = _hom2D.HomMat2dTranslate(this._mid_col_x, this._mid_row_y);
_hom2D = _hom2D.HomMat2dRotateLocal(this._phi);
_tmp = _hom2D.HomMat2dScaleLocal(this._len1, this._len2);
_cols_x = _tmp.AffineTransPoint2d(_colsInit_x, _rowsInit_y, out _rows_y);
updateInterface();
}
public void RotateTrans(double x, double y, double r, out double tx, out double ty)
{
HHomMat2D mat2D = new HHomMat2D();
mat2D = mat2D.HomMat2dRotate((HTuple)r, RotateCircle.Center.X, RotateCircle.Center.Y);
HTuple qx, qy;
HOperatorSet.AffineTransPoint2d(mat2D, x, y, out qx, out qy);
tx = qx[0].D;
ty = qy[0].D;
}
public override HMessage ActorTask(HMessage obj)
{
HTuple isempty = msg_queue.GetMessageQueueParam("is_empty");
if (isempty.I == 0)
{
msg_queue.SetMessageQueueParam("flush_queue", 1);
}
if (obj != null)
{
obj.Dispose();
}
HTuple row, column, angle, score;
HImage img;
img = imggrabber.GrabImageAsync(-1);
HRegion roi = new HRegion(ActiveObject);
HMessage msg = new HMessage();
msg.SetMessageObj(img, "image");
Monitor.Enter(lockobj);
try
{
if (sbm != null)
{
sbm.Dispose();
}
sbm = new HShapeModel(img.ReduceDomain(roi), "auto", -Math.PI,
2 * Math.PI, "auto", "auto", "use_polarity", "auto", "auto");
sbm.FindShapeModel(img, 0.0, 0.0, 0.5, 1, 0.5, "least_squares", 0, 0.9,
out row, out column, out angle, out score);
if (row.Length > 0)
{
HXLDCont contours = sbm.GetShapeModelContours(1);
HHomMat2D homMat2D = new HHomMat2D();
homMat2D.VectorAngleToRigid(0.0, 0.0, 0.0, row.D, column.D, angle.D);
HXLDCont projcont = homMat2D.AffineTransContourXld(contours);
msg.SetMessageObj(projcont, "contour");
}
else
{
sbm.Dispose();
sbm = null;
}
}
finally
{
Monitor.Exit(lockobj);
}
return(msg);
}
public bool WaitForClickPoints(double x, double y)
{
if (_clickedPointsPositionList.Count < _clickPoints)
{
var isNotTheSamePoint = _clickedPointsPositionList.Count == 0;
var prevIdx = _clickedPointsPositionList.Count - 1;
var prevPoint = prevIdx > -1 ? _clickedPointsPositionList[prevIdx] : null;
if (prevPoint != null)
{
isNotTheSamePoint = Math.Abs(prevPoint.ColBegin - x) > 0 || Math.Abs(prevPoint.RowBegin - y) > 0;
}
if (isNotTheSamePoint)
{
_clickedPointsPositionList.Add(new PositionModel()
{
ColBegin = x, RowBegin = y
});
}
}
_initPointsDone = _clickedPointsPositionList.Count == _clickPoints;
if (_initPointsDone)
{
//產生 Rectangle 資訊
midR = _clickedPointsPositionList.Average(p => p.RowBegin);
midC = _clickedPointsPositionList.Average(p => p.ColBegin);
//長度
var beginRow = _clickedPointsPositionList[0].RowBegin;
var beginCol = _clickedPointsPositionList[0].ColBegin;
var endRow = _clickedPointsPositionList[1].RowBegin;
var endCol = _clickedPointsPositionList[1].ColBegin;
var distance = HMisc.DistancePp(beginRow, beginCol, endRow, endCol);
length1 = distance / 2.0;
length2 = 10;
//決定角度
creakPointPhi = phi = HMisc.AngleLx(beginRow, beginCol, endRow, endCol) * -1;
rowsInit = new HTuple(new double[] { -1.0, -1.0, 1.0,
1.0, 0.0, 0.0 });
colsInit = new HTuple(new double[] { -1.0, 1.0, 1.0,
-1.0, 0.0, 0.6 });
//order ul , ur, lr, ll, mp, arrowMidpoint
hom2D = new HHomMat2D();
tmp = new HHomMat2D();
updateHandlePos();
}
return(_initPointsDone);
}
public override void construct()
{
NumHandles = 6; // 4 corners + 1 midpoint + 1 rotationpoint
activeHandleIdx = 4;
rowsInit = new HTuple(new double[] { -1.0, -1.0, 1.0,
1.0, 0.0, 0.0 });
colsInit = new HTuple(new double[] { -1.0, 1.0, 1.0,
-1.0, 0.0, 0.6 });
//order ul , ur, lr, ll, mp, arrowMidpoint
hom2D = new HHomMat2D();
tmp = new HHomMat2D();
}
/********************************************************************/
/* getter methods */
/********************************************************************/
/// <summary>
/// Gets the model for the current image level
/// </summary>
public HXLD getModelContour()
{
if (PyramidROIs == null)
{
return(null);
}
homSc2D.HomMat2dIdentity();
homSc2D = homSc2D.HomMat2dScaleLocal(scaleW, scaleH);
return(((PyramidROIs.SelectObj(currentImgLevel)).
GenContourRegionXld("center")).
AffineTransContourXld(homSc2D));
}
public ToolResult GetResult()
{
try
{
int imageWidt, imageHeight;
HMetrologyModel metrologyModel = new HMetrologyModel();
HTuple startRow, startCol, endRow, endCol;
HHomMat2D matd = new HHomMat2D();
HHomMat2D matd3 = matd.HomMat2dRotate(info.Rectangle2Angle, 0.0, 0.0);
HHomMat2D matd4 = matd3.HomMat2dTranslate(info.Rectangle2Row, info.Rectangle2Col);
HOperatorSet.AffineTransPoint2d(matd4, new HTuple(0.0), new HTuple(-info.Rectangle2Length1), out startRow, out startCol);
HOperatorSet.AffineTransPoint2d(matd4, new HTuple(0.0), new HTuple(info.Rectangle2Length1), out endRow, out endCol);
//创建找线工具
Image.GetImageSize(out imageWidt, out imageHeight);
int[] value = new int[] { Convert.ToInt32(startRow.D), Convert.ToInt32(startCol.D), Convert.ToInt32(endRow.D), Convert.ToInt32(endCol.D) };
HTuple values = new HTuple(value);
metrologyModel.CreateMetrologyModel();
metrologyModel.SetMetrologyModelImageSize(imageWidt, imageHeight);
int index = metrologyModel.AddMetrologyObjectGeneric("line", values, 20, 5, 1, 30, "min_score", 0.6);
#region 设置参数
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_length1"), new HTuple(Convert.ToInt32(info.measure_length1)));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_length2"), new HTuple(Convert.ToInt32(info.measure_length2)));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_distance"), new HTuple(info.measure_distance));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("num_measures"), new HTuple(info.num_measures));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("num_instances"), new HTuple(info.num_instances));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_sigma"), new HTuple(info.measure_sigma));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_threshold"), new HTuple(info.measure_threshold));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_transition"), new HTuple(info.measure_transition.ToString()));
#endregion
HTuple Row;
HTuple Col;
HXLDCont modelXLD = metrologyModel.GetMetrologyObjectMeasures(index, "all", out Row, out Col);
if (info.IsShowLineMeasureDetail)
{
Window.SetColor("red");
modelXLD.DispXld(Window.Window);
}
return(ApplyMetrology(metrologyModel, index, info.ToolName));
}
catch (Exception e)
{
return(new ToolResult()
{
ResultName = info.ToolName, Errormessage = e.ToString(), GetResultTime = DateTime.Now, IsSuccess = false
});
}
}
/// <summary>在鼠标位置创建一个新的ROI实例</summary>
/// <param name="midX">
/// x (=column) coordinate for interactive ROI
/// </param>
/// <param name="midY">
/// y (=row) coordinate for interactive ROI
/// </param>
public override void createROI(double midX, double midY)
{
midR = midY;
midC = midX;
rowsInit = new HTuple(new double[] { -1.0, -1.0, 1.0,
1.0, 0.0, 0.0 });
colsInit = new HTuple(new double[] { -1.0, 1.0, 1.0,
-1.0, 0.0, 1.2 });
//order ul , ur, lr, ll, mp, arrowMidpoint
hom2D = new HHomMat2D();
tmp = new HHomMat2D();
updateHandlePos();
}
/// <summary>
/// Gets the detected contour.
/// </summary>
/// <returns>Detected contour</returns>
public HXLDCont getDetectionResults()
{
HXLDCont rContours = new HXLDCont();
hmat.HomMat2dIdentity();
if (mContResults != null)
{
mContResults.Dispose();
}
mContResults.GenEmptyObj();
for (int i = 0; i < count; i++)
{
if (mImageScale < 0.1 || mImageScale > 2)
{
mImageScale = 1.0;
}
hmat.VectorAngleToRigid(0, 0, 0, mRow[i].D * mImageScale, mCol[i].D * mImageScale, mAngle[i].D);
//2020.11.7 gengxmÐÞ¸Ä £¬ÂÖÀª·Å´óÈý±¶
hmat = hmat.HomMat2dScale(1.0000 / mImageScale, 1.0000 / mImageScale, 0, 0);
rContours = hmat.AffineTransContourXld(mContour);
mContResults = mContResults.ConcatObj(rContours);
}
if (rContours != null)
{
rContours.Dispose();
}
if (true)
{
HTuple convexity;
HTuple col1, col2, row1, row2;
HOperatorSet.SmallestRectangle1Xld(mContResults, out row1, out col1, out row2, out col2);
HOperatorSet.ConvexityXld(mContResults, out convexity);
// wid = col2 - col1;
//hei = row2 - row1;
}
return(mContResults);
}
/// <summary>Creates a new ROI instance at the mouse position</summary>
/// <param name="midX">
/// x (=column) coordinate for interactive ROI
/// </param>
/// <param name="midY">
/// y (=row) coordinate for interactive ROI
/// </param>
public override void createROI(double midX, double midY)
{
midR = midY;
midC = midX;
length1 = 100;
length2 = 50;
phi = 0.0;
rowsInit = new HTuple(new double[] {-1.0, -1.0, 1.0,
1.0, 0.0, 0.0 });
colsInit = new HTuple(new double[] {-1.0, 1.0, 1.0,
-1.0, 0.0, 0.6 });
//order ul , ur, lr, ll, mp, arrowMidpoint
hom2D = new HHomMat2D();
tmp = new HHomMat2D();
updateHandlePos();
}
/// <summary>Constructor</summary>
public MatchingResult()
{
hmat = new HHomMat2D();
mContResults = new HXLDCont();
}
/// <summary>
/// Adds visual effects (shadows)
/// to the measure results.
/// </summary>
/// <param name="edges">
/// Add shadows along the edges provided
/// </param>
public void UpdateShadowContours(HObject edges)
{
double shift;
HXLDCont shadow1, shadow2;
HHomMat2D hom2D = new HHomMat2D();
mShadow.Dispose();
mShadow.GenEmptyObj();
shift = Math.Min(0.5 * lineWidth, 2.0);
hom2D.HomMat2dIdentity();
hom2D = hom2D.HomMat2dTranslate(shift, 1);
shadow1 = ((HXLDCont)edges).AffineTransContourXld(hom2D);
hom2D.HomMat2dIdentity();
hom2D = hom2D.HomMat2dTranslate(1, shift);
shadow2 = ((HXLDCont)edges).AffineTransContourXld(hom2D);
mShadow = mShadow.ConcatObj(shadow1);
mShadow = mShadow.ConcatObj(shadow2);
shadow1.Dispose();
shadow2.Dispose();
}
/// <summary>
/// Initializes flags, lists, and delegates to have a valid
/// starting point to start the assistant.
/// </summary>
public MatchingAssistant(MatchingParam parSet)
{
parameterSet = parSet;
NotifyIconObserver = new MatchingDelegate(dummy);
NotifyParamObserver = new AutoParamDelegate(dummyS);
homSc2D = new HHomMat2D();
TestImages = new Hashtable(10);
tResult = new MatchingResult();
contrastLowB = 0;
contrastUpB = 255;
scaleStepLowB = 0.0;
scaleStepUpB = (double)19.0/1000.0;
angleStepLowB = 0.0;
angleStepUpB = (double)(112.0/10.0)*Math.PI/180.0;
pyramLevLowB = 1;
pyramLevUpB = 6;
minContrastLowB = 0;
minContrastUpB = 30;
findAlways = false;
createNewModelID = true;
ModelID = new HShapeModel();
onExternalModelID = false;
}
/// <summary>
/// Gets the model supplied by a loaded shapebased model file (.shm)
/// </summary>
public HXLD getLoadedModelContour()
{
HTuple row1, col1, row2, col2, row, col;
HHomMat2D homMat2D = new HHomMat2D();
try
{
tResult.mContour.SmallestRectangle1Xld(out row1, out col1, out row2, out col2);
row2 = row1.TupleMin();
col2 = col1.TupleMin();
row = row2.TupleFloor()-5;
col = col2.TupleFloor()-5;
homMat2D.HomMat2dIdentity();
homMat2D = homMat2D.HomMat2dTranslate(-row,-col);
return homMat2D.AffineTransContourXld(tResult.mContour);
}
catch(HOperatorException e)
{
exceptionText = e.Message;
NotifyIconObserver(MatchingAssistant.ERR_READ_SHAPEMODEL);
return null;
}
}
/// <summary>
/// Auxiliary method to recalculate the contour points of
/// the rectangle by transforming the initial row and
/// column coordinates (rowsInit, colsInit) by the updated
/// homography hom2D
/// </summary>
private void updateHandlePos()
{
hom2D.HomMat2dIdentity();
hom2D = hom2D.HomMat2dTranslate(midC, midR);
hom2D = hom2D.HomMat2dRotateLocal(phi);
tmp = hom2D.HomMat2dScaleLocal(length1, length2);
cols = tmp.AffineTransPoint2d(colsInit, rowsInit, out rows);
}
/********************************************************************/
/* getter methods */
/********************************************************************/
/// <summary>
/// Gets the model for the current image level
/// </summary>
public HXLD getModelContour()
{
if(PyramidROIs==null)
return null;
homSc2D.HomMat2dIdentity();
homSc2D = homSc2D.HomMat2dScaleLocal(scaleW, scaleH);
return ((PyramidROIs.SelectObj(currentImgLevel)).
GenContourRegionXld("center")).
AffineTransContourXld(homSc2D);
}
public bool WaitForClickPoints(double x, double y)
{
if (_clickedPointsPositionList.Count < _clickPoints)
{
_clickedPointsPositionList.Add(new PositionModel() { ColBegin = x, RowBegin = y });
}
_initPointsDone = _clickedPointsPositionList.Count == _clickPoints;
if (_initPointsDone)
{
//產生 Rectangle 資訊
midR = _clickedPointsPositionList.Average(p => p.RowBegin);
midC = _clickedPointsPositionList.Average(p => p.ColBegin);
length1 = _smartWidth;
length2 = _smartWidth;
//決定角度
phi = 0.0;
rowsInit = new HTuple(new double[] {-1.0, -1.0, 1.0,
1.0, 0.0, 0.0 });
colsInit = new HTuple(new double[] {-1.0, 1.0, 1.0,
-1.0, 0.0, 0.6 });
//order ul , ur, lr, ll, mp, arrowMidpoint
hom2D = new HHomMat2D();
tmp = new HHomMat2D();
updateHandlePos();
}
return _initPointsDone;
}
/// <summary>
/// 重設 ROI 資訊
/// </summary>
/// <param name="roiRow">中心點 Row</param>
/// <param name="roiCol">中心點 Col</param>
/// <param name="roiPhi">角度</param>
/// <param name="roiLength">half 長</param>
/// <param name="roiWidth">half 寬</param>
public void MakeROI(double roiRow, double roiCol, double roiPhi, double roiLength, double roiWidth)
{
midR = roiRow;
midC = roiCol;
length1 = roiLength;
length2 = roiWidth;
phi = roiPhi;
rowsInit = new HTuple(new double[] {-1.0, -1.0, 1.0,
1.0, 0.0, 0.0 });
colsInit = new HTuple(new double[] {-1.0, 1.0, 1.0,
-1.0, 0.0, 0.6 });
//order ul , ur, lr, ll, mp, arrowMidpoint
hom2D = new HHomMat2D();
tmp = new HHomMat2D();
updateHandlePos();
}
public bool WaitForClickPoints(double x, double y)
{
if (_clickedPointsPositionList.Count < _clickPoints)
{
var isNotTheSamePoint = _clickedPointsPositionList.Count == 0;
var prevIdx = _clickedPointsPositionList.Count - 1;
var prevPoint = prevIdx > -1 ? _clickedPointsPositionList[prevIdx] : null;
if (prevPoint != null)
{
isNotTheSamePoint = Math.Abs(prevPoint.ColBegin - x) > 0 || Math.Abs(prevPoint.RowBegin - y) > 0;
}
if (isNotTheSamePoint)
{
_clickedPointsPositionList.Add(new PositionModel() { ColBegin = x, RowBegin = y });
}
}
_initPointsDone = _clickedPointsPositionList.Count == _clickPoints;
if (_initPointsDone)
{
//產生 Rectangle 資訊
midR = _clickedPointsPositionList.Average(p => p.RowBegin);
midC = _clickedPointsPositionList.Average(p => p.ColBegin);
//長度
var beginRow = _clickedPointsPositionList[0].RowBegin;
var beginCol = _clickedPointsPositionList[0].ColBegin;
var endRow = _clickedPointsPositionList[1].RowBegin;
var endCol = _clickedPointsPositionList[1].ColBegin;
var distance = HMisc.DistancePp(beginRow, beginCol, endRow, endCol);
length1 = distance / 2.0;
length2 = 10;
//決定角度
creakPointPhi = phi = HMisc.AngleLx(beginRow, beginCol, endRow, endCol) * -1;
rowsInit = new HTuple(new double[] {-1.0, -1.0, 1.0,
1.0, 0.0, 0.0 });
colsInit = new HTuple(new double[] {-1.0, 1.0, 1.0,
-1.0, 0.0, 0.6 });
//order ul , ur, lr, ll, mp, arrowMidpoint
hom2D = new HHomMat2D();
tmp = new HHomMat2D();
updateHandlePos();
}
return _initPointsDone;
}