private VisionResult Fm_SoftwareCliab_DetectLabel(string arg1, Module arg2, Nozzle arg3)
{
VisionResult rtn = new VisionResult();
if (this.bSet_CamLive)
{
this.bCamLive_Click(this, new EventArgs());
Thread.Sleep(100);
}
Camera camera = Camera.Bottom1;
if (arg3 == Nozzle.Nz3 || arg3 == Nozzle.Nz4)
{
camera = Camera.Bottom2;
}
var roi = SystemEntiy.Instance[arg2].MachineConfig[arg3].ViewRoi;
using (VisionImage img = CameraDefine.Instance.Camera[arg2][camera].Snap())
{
rtn = VisionCalHelper.Instance.DetectUI(arg1, img, roi);
Algorithms.Copy(img, this.imageSet.imageSet.Image);
}
return(rtn);
}
private void ImageSet_VisionDetect(string func)
{
if (this.imageSet.imageSet.Roi.Count > 0)
{
Camera camera = (Camera)this.cameraComboBox.SelectedIndex;
VisionResult rtn = new VisionResult();
if (this.bSet_CamLive)
{
this.bCamLive_Click(this, new EventArgs());
Thread.Sleep(100);
}
using (VisionImage img = CameraDefine.Instance.Camera[this.Module][camera].Snap())
{
rtn = VisionCalHelper.Instance.DetectUI(func, img, this.imageSet.imageSet.Roi[0].Shape);
Algorithms.Copy(img, this.imageSet.imageSet.Image);
if (rtn.State == VisionResultState.OK)
{
var xyPt = SystemEntiy.Instance[this.Module].XYPos;
PointF wroldPt = new PointF();
if (SystemEntiy.Instance[this.Module].WroldPt(camera, xyPt, rtn.Point, out wroldPt))
{
SystemEntiy.Instance[this.Module].XYGoPosTillStop(wroldPt);
}
}
}
}
else
{
MessageBox.Show("请绘制ROI");
}
}
public VisionResult GetResult(string imageFileName, PredictionResponse prediction)
{
var file = new FileInfo(imageFileName);
var img = new Bitmap(file.FullName);
var topBox = prediction.
Predictions.Where(i => i.TagName == "Box").OrderByDescending(i => i.Probability)
.FirstOrDefault();
var buttons = GetButtonsInsideBox(topBox, prediction);
var result = new VisionResult()
{
Box = FromPrediction(file.Extension, img, topBox),
Buttons = buttons.Select(i => FromPrediction(file.Extension, img, i)).ToList()
};
return(null);
}
public VisionResultTestTools(int startingFreeTiles = 0, int startingAllies = 0, int startingEnemies = 0)
{
_result = new VisionResult();
for (int i = 0; i < startingFreeTiles; i++)
{
_result.FreeTiles.Add(new Tile(0, 0, null, null));
}
for (int i = 0; i < startingAllies; i++)
{
_result.Allies.Add(_factory.Create(EntityId.Headquarter, _fakedAllyClanInfo));
}
for (int i = 0; i < startingEnemies; i++)
{
_result.Enemies.Add(_factory.Create(EntityId.Headquarter, _fakedEnemyClanInfo));
}
}
private VisionResult ProgramEditCtrl_DetectUI(string arg1, RectangleContour arg2, Module arg3)
{
VisionResult rtn = new VisionResult();
if (this.bSet_CamLive)
{
this.bCamLive_Click(this, new EventArgs());
Thread.Sleep(100);
}
using (VisionImage img = CameraDefine.Instance.Camera[arg3][Camera.Top].Snap())
{
rtn = VisionCalHelper.Instance.DetectUI(arg1, img, arg2);
Algorithms.Copy(img, this.imageSet.imageSet.Image);
}
return(rtn);
}
private void bCalDown_Click(object sender, EventArgs e)
{
if (!string.IsNullOrEmpty(this.cbDownVision.Text))
{
VisionResult rtn = DetectLabel?.Invoke(this.cbDownVision.Text, this.module.Module, this.selectNz3.SelectNz);
if (rtn.State == VisionResultState.OK)
{
var entiy = SystemEntiy.Instance[this.module.Module];
var curPt = SystemEntiy.Instance[this.module.Module].XYPos;
//PointF wroldPt = new PointF();
//SystemEntiy.Instance[this.module.Module].WroldPt(this.selectNz3.SelectNz,
// SystemEntiy.Instance[this.module.Module].MachineConfig[this.selectNz3.SelectNz].RotateCamPoint,
// rtn.Point, out wroldPt);
var wroldPt = SystemEntiy.Instance[this.module.Module].RotatePtDown(this.selectNz3.SelectNz, rtn.Point, -rtn.Angle);
entiy.XYGoPos(wroldPt);
entiy.RGoAngle(entiy.MachineAxis.R[(int)this.selectNz3.SelectNz].Pos - rtn.Angle, this.selectNz3.SelectNz);
}
}
}
/// <summary>
/// Sends out a query to the computer vision api and validates the result
/// </summary>
/// <param name="attachment"></param>
/// <returns></returns>
private async Task <VisionResult> QueryComputerVisionApi(byte[] attachment)
{
var endpoint = "https://westeurope.api.cognitive.microsoft.com/vision/v1.0/analyze?visualFeatures=Categories,Description,Color,Faces&details=Celebrities&language=en";
var imageBinaryContent = new ByteArrayContent(attachment);
var multipartContent = new MultipartFormDataContent {
{ imageBinaryContent, "image" }
};
var requestMessage = new HttpRequestMessage(HttpMethod.Post, endpoint)
{
Content = multipartContent
};
requestMessage.Headers.Add("Ocp-Apim-Subscription-Key", _configuration["computerVisionKey"]);
_logger.LogDebug($"Posting to Computer Vision: {endpoint}");
var response = await _httpClient.SendAsync(requestMessage);
VisionResult result = null;
var responseString = await response.Content.ReadAsStringAsync();
if (response.IsSuccessStatusCode)
{
_logger.LogInformation($"Luis response: {responseString}");
result = JsonConvert.DeserializeObject <VisionResult>(responseString);
}
else
{
_logger.LogInformation($"Ooops, could not query vision api: {response.StatusCode} {response.ReasonPhrase} {responseString}");
}
return(result);
}
private void bPasteTest_Click(object sender, EventArgs e)
{
if (this.cbDownVision.SelectedIndex < 0)
{
return;
}
var entiy = SystemEntiy.Instance[this.module.Module];
Nozzle nz = this.selectNz3.SelectNz;
// 记录要贴附的坐标
PointF pasteXY = entiy.XYPos;
double pasteAngle = (double)this.numPasteAngle.Value;
// Z轴到安全高度
entiy.ZGoSafeTillStop();
// 到拍照位
entiy.XYGoPosTillStop(entiy.MachineConfig[nz].RotateCamPoint);
// R角度到0
entiy.RGoAngleTillStop(0, nz);
Thread.Sleep(50);
// 拍照
VisionResult rtn = DetectLabel?.Invoke(this.cbDownVision.Text, this.module.Module, this.selectNz3.SelectNz);
if (rtn.State == VisionResultState.OK)
{
PointF result = entiy.RotatePtDown(nz, rtn.Point, -rtn.Angle + pasteAngle);
PointF offset = new PointF();
offset.X = result.X - entiy.MachineConfig[nz].DownMarkPt.X;
offset.Y = result.Y - entiy.MachineConfig[nz].DownMarkPt.Y;
PointF realPt = new PointF();
realPt.X = pasteXY.X + offset.X + entiy.MachineConfig[nz].NzToCam.X;
realPt.Y = pasteXY.Y + offset.Y + entiy.MachineConfig[nz].NzToCam.Y;
if (!this.cbCheck.Checked)
{
realPt = entiy.GetPasteOffset(nz, pasteXY, realPt);
}
else
{
this.upPt = pasteXY;
this.pastePt = realPt;
}
entiy.RGoAngle(-rtn.Angle + pasteAngle, nz);
entiy.XYGoPosTillStop(realPt);
entiy.ZGoPaste(nz);
Thread.Sleep(1000);
entiy.MachineIO.VaccumSuck[(int)nz].SetIO(false);
Thread.Sleep(100);
entiy.MachineIO.VaccumPO[(int)nz].SetIO(true);
Thread.Sleep(100);
entiy.MachineIO.VaccumPO[(int)nz].SetIO(false);
entiy.ZGoSafeTillStop();
entiy.XYGoPosTillStop(pasteXY);
}
else
{
MessageBox.Show("Label 侦测失败!!");
}
}
/// <summary>
/// Check vision
/// </summary>
public VisionResult CheckVision()
{
VisionResult result = new VisionResult();
float dist = 0;
SensorType sensorType = SensorType.Inner;
if (DevTools.Instance().Invisible || Player.Instance == null)
{
result.playerVisible = false;
}
else
{
bool visible = false;
for (int i = 0; i <= 3; i++)
{
Vector3 pos;
switch (i)
{
case 1:
pos = Player.Instance.GetFeetPos();
break;
case 2:
pos = Player.Instance.GetHeadPos();
break;
default:
pos = Player.Instance.GetTargetPos();
break;
}
visible = CheckPoint(pos, out dist, out sensorType);
result.visionPoint = (VisionPoint)i;
if (visible)
{
break;
}
}
if (visible && Player.Instance.hiding)
{
float hidingDist = (entity.GetState() is AIStateAggresion || entity.GetState() is AIStateCover ? hidingDistAggression : hidingDistAttention);
if (dist > hidingDist)
{
visible = false;
}
}
result.playerVisible = visible;
result.sensorType = sensorType;
}
GameObject[] points = GetAttentionPoints();
if (points.Length > 0)
{
foreach (GameObject go in points)
{
if (!go.activeSelf)
{
continue;
}
if (go.transform.IsChildOf(transform))
{
continue;
}
if (CheckPoint(go.transform.position, out dist, out sensorType))
{
if (sensorType == SensorType.Outer)
{
result.attentionPoint = go.transform;
break;
}
}
}
}
points = GetFearPoints();
if (points.Length > 0)
{
foreach (GameObject go in points)
{
if (!go.activeSelf)
{
continue;
}
if (go.transform.IsChildOf(transform))
{
continue;
}
if (CheckPoint(go.transform.position, out dist, out sensorType))
{
if (sensorType == SensorType.Outer)
{
result.fearPoint = go.transform;
break;
}
}
}
}
visionResult = result;
return(visionResult);
}
/// <summary>
/// Reset vision result and vision pivot angle
/// </summary>
public void ResetVision()
{
visionPivot.eulerAngles = transform.eulerAngles;
visionRot = transform.eulerAngles;
visionResult = new VisionResult();
}
