private Bitmap DrawRectanglesFunct(Bitmap image, VideoProcessing vp)
{
var rects = VideoDetection.FindRectangles(vp, image);
if (rects.Count == 0)
{
return(image);
}
var rect2 = VideoDetection.GetSmallestCenteredRectangle(rects);
try {
using (Image <Bgr, Byte> img = new Image <Bgr, byte>(image)) {
foreach (var rect in rects)
{
img.DrawPolyline(PointFToPoint(ToRotatedRectangle(rect)), true, new Bgr(Color.Red), 2);
}
if (rect2 != null)
{
img.DrawPolyline(PointFToPoint(ToRotatedRectangle(rect2)), true, new Bgr(Color.Green), 5);
img.Draw(new Cross2DF(rect2.ToPartLocation().ToPointF(), 20, 20), new Bgr(Color.Blue), 2);
}
image = img.ToBitmap();
}
} catch {
}
return(image);
}
// =========================================================
private void DrawFiducialFunct(ref Bitmap image, VideoProcessing vp)
{
MarkA.Clear();
var fids = VideoDetection.FindTemplates(vp, image);
foreach (var f in fids)
{
f.ToScreenResolution();
}
MarkA.AddRange(fids.Select(x => x.ToPartLocation().ToPointF()).ToArray());
}
public bool Calibrate(double Tolerance)
{
//setup camera
MainForm.cameraView.UpCameraReset();
MainForm.cameraView.SetUpCameraFunctionSet("Needle");
MainForm.cameraView.downSettings.FindCircles = true;
// we are already @ upcamera position
MainForm.Cnc.Zup();
Global.GoTo("Up Camera");
MainForm.Cnc.Zdown(Settings.Default.focus_height, true); //1 mm above PCB
CalibrationPoints.Clear(); // Presumably user changed the needle, and calibration is void no matter if we succeed here
Calibrated = false;
for (int i = 0; i <= 3600; i = i + 225)
{
NeedlePoint Point = new NeedlePoint();
Point.A = i / 10.0;
if (!MainForm.Cnc.CNC_A(Point.A))
{
return(false);
}
//detect average of 3 measurements
var circle = VideoDetection.GetClosestAverageCircle(MainForm.cameraView.upVideoProcessing, Tolerance, 3);
if (circle == null)
{
MainForm.ShowSimpleMessageBox("Needle Calibration: Can't see needle at angle " + Point.A + " - aborting");
return(false);
}
circle.ToMMResolution();
Point.X = circle.X;
Point.Y = circle.Y;
// display point
var pt = circle.Clone().ToScreenResolution().ToPartLocation().ToPointF();
MainForm.DisplayText("circle @ " + circle + "\tx @ " + pt.X + "," + pt.Y);
MainForm.cameraView.upVideoProcessing.MarkA.Add(pt);
CalibrationPoints.Add(Point);
}
Calibrated = true;
MainForm.Cnc.Zup();
MainForm.cameraView.SetUpCameraDefaults();
return(true);
}
// =========================================================
private void DrawCirclesFunct(Bitmap bitmap, VideoProcessing vp)
{
List <Shapes.Circle> Circles = VideoDetection.FindCircles(vp, bitmap);
using (Graphics g = Graphics.FromImage(bitmap))
using (Pen pen = new Pen(Color.DarkOrange, 2))
for (int i = 0, n = Circles.Count; i < n; i++)
{
Circles[i].ToRawResolution();
g.DrawEllipse(pen,
(float)(Circles[i].X - Circles[i].Radius), (float)(Circles[i].Y - Circles[i].Radius),
(float)(Circles[i].Radius * 2), (float)(Circles[i].Radius * 2));
}
}
public static void DoNeedleErrorMeasurement(VideoProcessing vp)
{
var cnc = Global.Instance.cnc;
var originalLocation = cnc.XYALocation;
PartLocation testLocation = Global.GoTo("Up Camera");
cnc.Zdown(Properties.Settings.Default.focus_height, true);
// setup camera
vp.SetFunctionsList("Needle");
vp.s.FindCircles = true;
vp.s.Draw1mmGrid = true;
var Needle = Global.Instance.needle;
List <PartLocation> offsetError = new List <PartLocation>();
for (int i = 0; i <= 360; i += 45)
{
testLocation.A = i;
var pp = testLocation - Needle.NeedleOffset;
Needle.Move_m(pp); // move to target
// mark erro
var circle = VideoDetection.GetClosestCircle(vp, 10);
if (circle != null)
{
vp.MarkA.Add(circle.ToScreenResolution().ToPartLocation().ToPointF());
circle.ToMMResolution();
offsetError.Add(circle.ToPartLocation());
}
Thread.Sleep(500); //wait 1 second
}
Global.Instance.mainForm.ShowSimpleMessageBox("Upcamera offset Error is " + PartLocation.Average(offsetError) + "\nMax Error is " + PartLocation.MaxValues(offsetError));
cnc.Zup();
cnc.CNC_XYA(originalLocation);
//revert to previous state
vp.Reset();
}
public bool PopulateAvailableParts(TapeObj x)
{
if (x.FirstHole == null)
{
return(false); // currently only handling hole-calibrated harts
}
if (x.TemplateFilename == null || !File.Exists(x.TemplateFilename))
{
return(false);
}
MainForm.Cnc.SlackCompensation = false;
SetCurrentTapeMeasurement(x.TapeType);
//find out the max number of parts
int i = 0;
while (true)
{
if (!MainForm.Cnc.CNC_XY(x.GetHoleLocation(i)))
{
MainForm.Cnc.SlackCompensation = true; return(false);
}
var thing = VideoDetection.FindClosest(MainForm.cameraView.downVideoProcessing, Shapes.ShapeTypes.Circle, 1, 3);
if (thing == null)
{
break;
}
if (Cnc.AbortPlacement)
{
MainForm.Cnc.SlackCompensation = true; return(false);
}
i++;
}
MainForm.cameraView.SetDownCameraFunctionSet("ComponentPhoto");
double len = i * x.HolePitch;
double max_components = len / x.PartPitch + 2;
var list = x.AvailableParts;
list.Clear();
if (!MainForm.Cnc.CNC_XY(x.GetPartLocation(0)))
{
MainForm.Cnc.SlackCompensation = true; return(false);
} //start off with first part
for (i = 0; i < max_components; i++)
{
if (Cnc.AbortPlacement)
{
MainForm.Cnc.SlackCompensation = true; return(false);
}
var location = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Fiducial, 1, .1, x.TemplateFilename, .5);
if (location != null)
{
list.Add(new NamedLocation(location, i.ToString()));
if (!MainForm.Cnc.CNC_XY(location + new PartLocation(x.PartPitch, 0).Rotate(x.TapeAngle * Math.PI / 180)))
{
MainForm.Cnc.SlackCompensation = true;
return(false);
}
}
else
{
if (!MainForm.Cnc.CNC_XY(Cnc.XYLocation + new PartLocation(x.PartPitch, 0).Rotate(x.TapeAngle * Math.PI / 180)))
{
MainForm.Cnc.SlackCompensation = true;
return(false);
}
}
}
Global.Instance.mainForm.DisplayText("Detected " + list.Count + " parts for " + x.ID + " (" + String.Join(" ", list) + ")");
MainForm.Cnc.SlackCompensation = true;
return(true);
}
private static PartLocation DoCameraCalibration(VideoProcessing vp, PartLocation movement)
{
var cnc = Global.Instance.cnc;
var distance = new List <PartLocation>();
var pixels = new List <PartLocation>();
// turn on slack compensation
var savedSlackCompensation = cnc.SlackCompensation;
cnc.SlackCompensation = true;
var startingPos = cnc.XYLocation;
startingPos.A = 0;
vp.MarkA.Clear();
for (int i = -4; i < 5; i++)
{
//move
var newLocation = startingPos + (i * movement);
if (!cnc.CNC_XYA(newLocation))
{
return(null);
}
//try 5 times to find a circle
List <Shapes.Circle> circles = new List <Shapes.Circle>();
for (int tries = 5; tries > 0 && circles.Count == 0; tries--)
{
circles = VideoDetection.FindCircles(vp);
}
if (circles.Count == 0)
{
continue; //not found, move and try again
}
//find largest circle of the bunch
var circle = circles.Aggregate((c, d) => c.Radius > d.Radius ? c : d); //find largest circle if we have multiple
// var circlePL = (1 / zoom) * circle.ToPartLocation(); //compensate for zoom
circle.ToScreenUnzoomedResolution();
distance.Add(newLocation);
pixels.Add(circle.ToPartLocation());
vp.MarkA.Add(circle.Clone().ToScreenResolution().ToPartLocation().ToPointF());
//DisplayText(String.Format("Actual Loc = {0}\t Measured Loc = {1}", newLocation, UpCamera.PixelsToActualLocation(circlePL)), Color.Blue);
}
double XmmPerPixel = 0, YmmPerPixel = 0;
if (pixels.Count < 2)
{
Global.Instance.mainForm.ShowMessageBox("Unable To Detect Circles",
"Try to adjust upcamera processing to see circles, and ensure upcamera needle position is correctly configured",
MessageBoxButtons.OK);
}
else
{
// Do regression on X and Y
var Xs = pixels.Select(xx => xx.X).ToArray();
var Ys = distance.Select(xx => xx.X).ToArray();
var result = SimpleRegression.Fit(Xs, Ys);
XmmPerPixel = result.Item2;
Xs = pixels.Select(xx => xx.Y).ToArray();
Ys = distance.Select(xx => xx.Y).ToArray();
result = SimpleRegression.Fit(Xs, Ys);
YmmPerPixel = result.Item2;
Global.Instance.DisplayText(String.Format("{0} Xmm/pixel {1} Ymm/pixel", XmmPerPixel, YmmPerPixel), Color.Purple);
// Now move to the center
/* need to get gotolocation upcamera working still
* double X, Y; //error offset
* GotoUpCamPosition_button_Click(null, null);
* for (int tries = 5; tries > 0; tries--) {
* if (GoToLocation_m(UpCamera, Shapes.ShapeTypes.Circle, 1.8, 0.5, out X, out Y)) {
* Properties.Settings.Default.UpCam_PositionX = Cnc.CurrentX + X;
* Properties.Settings.Default.UpCam_PositionY = Cnc.CurrentY - Y;
* UpcamPositionX_textBox.Text = Properties.Settings.Default.UpCam_PositionX.ToString("0.00", CultureInfo.InvariantCulture);
* UpcamPositionY_textBox.Text = Properties.Settings.Default.UpCam_PositionY.ToString("0.00", CultureInfo.InvariantCulture);
*
* }
* }
*/
}
//restore settings
cnc.SlackCompensation = savedSlackCompensation;
vp.MarkA.Clear();
//return value
return((pixels.Count < 2) ? null : new PartLocation(Math.Abs(XmmPerPixel), Math.Abs(YmmPerPixel)));
}
private Bitmap DrawComponentsFunct(Bitmap bitmap, VideoProcessing vp)
{
List <Shapes.Component> Components = VideoDetection.FindComponents(vp, bitmap);
Graphics g = Graphics.FromImage(bitmap);
Pen OrangePen = new Pen(Color.DarkOrange, 1);
Pen RedPen = new Pen(Color.DarkRed, 2);
Pen BluePen = new Pen(Color.Blue, 2);
Shapes.Component Component;
Point p1 = new Point();
Point p2 = new Point();
for (int i = 0, n = Components.Count; i < n; i++)
{
Component = Components[i];
// move Component.Longest start to ComponentCenter, draw it
float dx = Component.Center.X - Component.Longest.Start.X;
float dy = Component.Center.Y - Component.Longest.Start.Y;
p1.X = (int)Math.Round(Component.Longest.Start.X + dx);
p1.Y = (int)Math.Round(Component.Longest.Start.Y + dy);
p2.X = (int)Math.Round(Component.Longest.End.X + dx);
p2.Y = (int)Math.Round(Component.Longest.End.Y + dy);
g.DrawLine(RedPen, p1, p2);
// move Component.Longest end to ComponentCenter, draw Component.Longest
dx = Component.Center.X - Component.Longest.End.X;
dy = Component.Center.Y - Component.Longest.End.Y;
p1.X = (int)Math.Round(Component.Longest.Start.X + dx);
p1.Y = (int)Math.Round(Component.Longest.Start.Y + dy);
p2.X = (int)Math.Round(Component.Longest.End.X + dx);
p2.Y = (int)Math.Round(Component.Longest.End.Y + dy);
g.DrawLine(RedPen, p1, p2);
// move Normal start to ComponentCenter, draw it
dx = Component.Center.X - Component.NormalStart.X;
dy = Component.Center.Y - Component.NormalStart.Y;
p1.X = (int)Math.Round(Component.NormalStart.X + dx);
p1.Y = (int)Math.Round(Component.NormalStart.Y + dy);
p2.X = (int)Math.Round(Component.NormalEnd.X + dx);
p2.Y = (int)Math.Round(Component.NormalEnd.Y + dy);
g.DrawLine(RedPen, p1, p2);
// move Component.Normal end to ComponentCenter, draw it
dx = Component.Center.X - Component.NormalEnd.X;
dy = Component.Center.Y - Component.NormalEnd.Y;
p1.X = (int)Math.Round(Component.NormalStart.X + dx);
p1.Y = (int)Math.Round(Component.NormalStart.Y + dy);
p2.X = (int)Math.Round(Component.NormalEnd.X + dx);
p2.Y = (int)Math.Round(Component.NormalEnd.Y + dy);
g.DrawLine(RedPen, p1, p2);
// draw outline
g.DrawPolygon(OrangePen, ToPointsArray(Component.Outline));
// draw Component.Longest
p1.X = (int)Math.Round(Component.Longest.Start.X);
p1.Y = (int)Math.Round(Component.Longest.Start.Y);
p2.X = (int)Math.Round(Component.Longest.End.X);
p2.Y = (int)Math.Round(Component.Longest.End.Y);
g.DrawLine(BluePen, p1, p2);
}
return(bitmap);
}