public PointH GetMarkCenterXLD(HObject ho_Image)
{
// Local iconic variables
HObject ho_Regions, ho_Regions1, ho_RegionClosing, ho_RegionOpening;
HObject ho_ConnectedRegions, ho_SelectedRegions2, ho_RegionFillUp1, ho_RegionFillUp2;
HObject ho_SelectedRegions1;
HObject ho_ROIOuter, ho_ROIInner, ho_ROI, ho_ROIEdges, ho_RimReduced;
HObject ho_Edges, ho_ContoursSplit, ho_RelEdges, ho_UnionContours;
HObject ho_ContCircle1;
HTuple hv_Number = null, hv_Row3 = null, hv_Column3 = null;
HTuple hv_Radius2 = null, hv_StartPhi2 = null, hv_EndPhi2 = null;
HTuple hv_PointOrder3 = null;
// Local control variables
HTuple hv_AreaMax = null;
HTuple hv_Y, hv_X;
HTuple hv_Width, hv_Height, hv_Area;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Regions);
HOperatorSet.GenEmptyObj(out ho_Regions1);
HOperatorSet.GenEmptyObj(out ho_RegionClosing);
HOperatorSet.GenEmptyObj(out ho_RegionOpening);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions2);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp1);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp2);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions1);
HOperatorSet.GenEmptyObj(out ho_ROIOuter);
HOperatorSet.GenEmptyObj(out ho_ROIInner);
HOperatorSet.GenEmptyObj(out ho_ROI);
HOperatorSet.GenEmptyObj(out ho_ROIEdges);
HOperatorSet.GenEmptyObj(out ho_RimReduced);
HOperatorSet.GenEmptyObj(out ho_Edges);
HOperatorSet.GenEmptyObj(out ho_ContoursSplit);
HOperatorSet.GenEmptyObj(out ho_RelEdges);
HOperatorSet.GenEmptyObj(out ho_UnionContours);
HOperatorSet.GenEmptyObj(out ho_ContCircle1);
try
{
//Find by region
ho_Regions.Dispose();
HOperatorSet.AutoThreshold(ho_Image, out ho_Regions, 2);
//ho_RegionClosing.Dispose();
//HOperatorSet.ClosingCircle(ho_Regions, out ho_RegionClosing, 3.5);
//ho_RegionOpening.Dispose();
//HOperatorSet.OpeningCircle(ho_RegionClosing, out ho_RegionOpening, 3.5);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_Regions, out ho_ConnectedRegions);
ho_RegionFillUp1.Dispose();
HOperatorSet.FillUp(ho_ConnectedRegions, out ho_RegionFillUp1);
ho_SelectedRegions2.Dispose();
HOperatorSet.SelectShape(ho_RegionFillUp1, out ho_SelectedRegions2, "area", "and", hv_MinAreaMark, hv_MaxAreaMark);
ho_RegionFillUp2.Dispose();
HOperatorSet.FillUp(ho_SelectedRegions2, out ho_RegionFillUp2);
ho_RegionOpening.Dispose();
HOperatorSet.ClosingCircle(ho_RegionFillUp2, out ho_RegionOpening, 3.5);
ho_RegionOpening.Dispose();
HOperatorSet.OpeningCircle(ho_RegionFillUp2, out ho_RegionOpening, 3.5);
ho_RegionFillUp1.Dispose();
HOperatorSet.FillUp(ho_RegionOpening, out ho_RegionFillUp1);
ho_SelectedRegions1.Dispose();
HOperatorSet.SelectShapeStd(ho_RegionFillUp1, out ho_SelectedRegions1, "max_area", 70);
HOperatorSet.AreaCenter(ho_SelectedRegions1, out hv_AreaMax, out hv_Y, out hv_X);
HOperatorSet.RegionFeatures(ho_SelectedRegions1, "width", out hv_Width);
HOperatorSet.RegionFeatures(ho_SelectedRegions1, "height", out hv_Height);
HOperatorSet.RegionFeatures(ho_SelectedRegions1, "area", out hv_Area);
HalconHelp halconHelp = new HalconHelp();
HOperatorSet.SetColor(hv_DispWindown, "red");
string strArea = "";
for (int i = 0; i < hv_Area.Length; i++)
{
strArea += hv_Area[i].D.ToString() + ",";
}
halconHelp.disp_message(hv_DispWindown, "Area:" + strArea.TrimEnd(','), "image", 10, 1000, "red", "true");
//HOperatorSet.SetColor(hv_DispWindown, "red");
if (hv_X.Length <= 0 || hv_Y.Length <= 0)
{
//未找到Mark点
return(new PointH());
}
double dd = hv_Width[0].D - hv_Height[0].D;
if (Math.Abs(dd) > 9)
{
//Mark点在视野的边界
return(new PointH());
}
//Find by XLD
HOperatorSet.DilationCircle(ho_SelectedRegions1, out ho_ROIOuter, 8.5);
ho_ROIInner.Dispose();
HOperatorSet.ErosionCircle(ho_SelectedRegions1, out ho_ROIInner, 8.5);
ho_ROI.Dispose();
HOperatorSet.Difference(ho_ROIOuter, ho_ROIInner, out ho_ROI);
ho_ROIEdges.Dispose();
HOperatorSet.Union1(ho_ROI, out ho_ROIEdges);
//Reduce the region of interest (domain) to the extracted
//regions containing the edges.
ho_RimReduced.Dispose();
HOperatorSet.ReduceDomain(ho_Image, ho_ROIEdges, out ho_RimReduced);
//Extract subpixel precise edges
ho_Edges.Dispose();
HOperatorSet.EdgesSubPix(ho_RimReduced, out ho_Edges, "canny", 4, 20, 40);
//分割线段
ho_ContoursSplit.Dispose();
HOperatorSet.SegmentContoursXld(ho_Edges, out ho_ContoursSplit, "lines_circles", 5, 4, 2);
//Select only the contours with length larger than 30 pixels
ho_RelEdges.Dispose();
HOperatorSet.SelectContoursXld(ho_ContoursSplit, out ho_RelEdges, "length", 30, 999999, 0, 0);
ho_UnionContours.Dispose();
HOperatorSet.UnionAdjacentContoursXld(ho_RelEdges, out ho_UnionContours, 100, 1, "attr_keep");
HOperatorSet.CountObj(ho_UnionContours, out hv_Number);
if ((int)(new HTuple(hv_Number.TupleGreater(1))) != 0)
{
//未找到Mark点
return(new PointH());
}
HOperatorSet.FitCircleContourXld(ho_UnionContours, "algebraic", -1, 0, 0, 3, 2,
out hv_Row3, out hv_Column3, out hv_Radius2, out hv_StartPhi2, out hv_EndPhi2, out hv_PointOrder3);
ho_ContCircle1.Dispose();
HOperatorSet.GenCircleContourXld(out ho_ContCircle1, hv_Row3, hv_Column3, hv_Radius2, 0, 6.28318, "positive", 1);
HOperatorSet.SetColor(hv_DispWindown, "red");
HOperatorSet.DispCircle(hv_DispWindown, hv_Row3, hv_Column3, hv_Radius2);
//HOperatorSet.SetLineWidth(hv_DispWindown, 3);
//HOperatorSet.DispObj(ho_ContCircle1, hv_DispWindown);
return(new PointH(hv_Column3[0], hv_Row3[0]));
}
catch (HalconException HDevExpDefaultException)
{
ho_Regions.Dispose();
ho_RegionClosing.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_RegionFillUp2.Dispose();
ho_SelectedRegions1.Dispose();
ho_ROIOuter.Dispose();
ho_ROIInner.Dispose();
ho_ROI.Dispose();
ho_ROIEdges.Dispose();
ho_RimReduced.Dispose();
ho_Edges.Dispose();
ho_ContoursSplit.Dispose();
ho_RelEdges.Dispose();
ho_UnionContours.Dispose();
ho_ContCircle1.Dispose();
throw HDevExpDefaultException;
}
finally
{
ho_Regions.Dispose();
ho_RegionClosing.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_RegionFillUp2.Dispose();
ho_SelectedRegions1.Dispose();
ho_ROIOuter.Dispose();
ho_ROIInner.Dispose();
ho_ROI.Dispose();
ho_ROIEdges.Dispose();
ho_RimReduced.Dispose();
ho_Edges.Dispose();
ho_ContoursSplit.Dispose();
ho_RelEdges.Dispose();
ho_UnionContours.Dispose();
ho_ContCircle1.Dispose();
}
}
// Local procedures
public PointH GetMarkCenter(HObject ho_Image)
{
// Local iconic variables
HObject ho_Regions, ho_Regions1, ho_RegionClosing, ho_RegionOpening;
HObject ho_ConnectedRegions, ho_SelectedRegions2, ho_RegionFillUp1, ho_RegionFillUp2;
HObject ho_SelectedRegions1;
// Local control variables
HTuple hv_AreaMax = null;
HTuple hv_Y, hv_X;
HTuple hv_Width, hv_Height, hv_Area;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Regions);
HOperatorSet.GenEmptyObj(out ho_Regions1);
HOperatorSet.GenEmptyObj(out ho_RegionClosing);
HOperatorSet.GenEmptyObj(out ho_RegionOpening);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions2);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp1);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp2);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions1);
try
{
//Find by region
ho_Regions.Dispose();
HOperatorSet.AutoThreshold(ho_Image, out ho_Regions, 2);
//ho_RegionClosing.Dispose();
//HOperatorSet.ClosingCircle(ho_Regions, out ho_RegionClosing, 3.5);
//ho_RegionOpening.Dispose();
//HOperatorSet.OpeningCircle(ho_RegionClosing, out ho_RegionOpening, 3.5);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_Regions, out ho_ConnectedRegions);
ho_RegionFillUp1.Dispose();
HOperatorSet.FillUp(ho_ConnectedRegions, out ho_RegionFillUp1);
ho_SelectedRegions2.Dispose();
HOperatorSet.SelectShape(ho_RegionFillUp1, out ho_SelectedRegions2, "area", "and", hv_MinAreaMark, hv_MaxAreaMark);
ho_RegionFillUp2.Dispose();
HOperatorSet.FillUp(ho_SelectedRegions2, out ho_RegionFillUp2);
ho_RegionOpening.Dispose();
HOperatorSet.ClosingCircle(ho_RegionFillUp2, out ho_RegionOpening, 3.5);
ho_RegionOpening.Dispose();
HOperatorSet.OpeningCircle(ho_RegionFillUp2, out ho_RegionOpening, 3.5);
ho_RegionFillUp1.Dispose();
HOperatorSet.FillUp(ho_RegionOpening, out ho_RegionFillUp1);
ho_SelectedRegions1.Dispose();
HOperatorSet.SelectShapeStd(ho_RegionFillUp1, out ho_SelectedRegions1, "max_area", 70);
HOperatorSet.AreaCenter(ho_SelectedRegions1, out hv_AreaMax, out hv_Y, out hv_X);
HOperatorSet.RegionFeatures(ho_SelectedRegions1, "width", out hv_Width);
HOperatorSet.RegionFeatures(ho_SelectedRegions1, "height", out hv_Height);
HOperatorSet.RegionFeatures(ho_SelectedRegions1, "area", out hv_Area);
HOperatorSet.SetColor(hv_DispWindown, "red");
HalconHelp halconHelp = new HalconHelp();
string strArea = "";
for (int i = 0; i < hv_Area.Length; i++)
{
strArea += hv_Area[i].D.ToString() + ",";
}
halconHelp.disp_message(hv_DispWindown, "Area:" + strArea.TrimEnd(','), "image", 10, 1000, "red", "true");
if (hv_X.Length <= 0 || hv_Y.Length <= 0)
{
//未找到Mark点
return(new PointH());
}
double dd = hv_Width[0].D - hv_Height[0].D;
if (Math.Abs(dd) > 3)
{
//Mark点在视野的边界
return(new PointH());
}
HOperatorSet.DispObj(ho_SelectedRegions1, hv_DispWindown);
return(new PointH(hv_X[0], hv_Y[0]));
}
catch (HalconException HDevExpDefaultException)
{
ho_Regions.Dispose();
ho_RegionClosing.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_RegionFillUp2.Dispose();
ho_SelectedRegions1.Dispose();
throw HDevExpDefaultException;
}
finally
{
ho_Regions.Dispose();
ho_RegionClosing.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_RegionFillUp2.Dispose();
ho_SelectedRegions1.Dispose();
}
}
public void StartHanle(HImage himage)
{
//m_bInHandleImage = true; //2018.05.25 改为多线程，在拍照前置为True
m_MarkCenter = new PointH();
m_MarkAxis = new PointH();
try
{
HImage handleImage = himage;
//if (GlobalVar.gl_strProductModel.ToUpper().IndexOf("A85IFLEX") >= 0)
if (!GlobalVar.m_bUseXLD)
{
m_MarkCenter = halconHelp.GetMarkCenter(handleImage);
}
else
{
m_MarkCenter = halconHelp.GetMarkCenterXLD(handleImage);
}
if (m_MarkCenter.X == 0.0 || m_MarkCenter.Y == 0.0)
{
m_MarkAxis = new PointH();
}
else
{
m_MarkAxis = halconHelp.GetMarkAxis(m_MarkCenter);
}
if (m_bIn9Point)
{
#region 九点标定处理
m_bHomMat2DOK = false;
try
{
if (m_MarkCenter.X == 0.0 || m_MarkCenter.Y == 0.0)
{
m_bHomMat2DOK = false;
return;
}
HTuple hv_Row, hv_Column, hv_AxisX, hv_AxisY, hv_Height, hv_Width, hv_newRow, hv_newColumn;
halconHelp.Get9Points(handleImage, out hv_Row, out hv_Column, out hv_Height, out hv_Width);
GetAxisData(hv_Row, hv_Column, hv_Height, hv_Width, out hv_newRow, out hv_newColumn, out hv_AxisY, out hv_AxisX);
//int length = hv_newRow.Length;
//hv_newRow[length] = m_MarkCenter.Y;
//hv_newColumn[length] = m_MarkCenter.X;
//hv_AxisY[length] = cadCenterData.Y;
//hv_AxisX[length] = cadCenterData.X;
for (int i = 0; i < hv_newRow.Length; i++)
{
halconHelp.disp_message(hv_DispWindown, (i + 1), "image", hv_newRow[i].D, hv_newColumn[i].D, "red", "true");
}
int countMY = hv_newRow.Length, countMX = hv_newColumn.Length, countAY = hv_AxisY.Length, countAX = hv_AxisX.Length;
if (countMY < 9 || countMX < 9 || countAY < 9 || countAX < 9 || countAX != countAY || countAX != countMX || countMX != countMY)
{
m_bHomMat2DOK = false;
halconCCD1_event_StatusText("标定相机异常: 标定点过少或个数不匹配", true);
GlobalVar.m_bNeedReCalc = true; //需要重新标定相机
GlobalVar.m_timeLast9Point = GlobalVar.m_timeLast9Point.AddHours((GlobalVar.m_CalibSpace + 12) * -1);
string strfile = Application.StartupPath + "\\CONFIG\\Config.ini";
CommonFunc.Write(ini_Section_TestInfo, ini_Key_Last9Point, GlobalVar.m_timeLast9Point.ToString("yyyy-MM-dd HH:mm:ss.fff"), strfile);
return;
}
HOperatorSet.WriteTuple(hv_newRow, m_pathConfigTup + "\\" + CCDName + "MarkY.tup");
HOperatorSet.WriteTuple(hv_newColumn, m_pathConfigTup + "\\" + CCDName + "MarkX.tup");
HOperatorSet.WriteTuple(hv_AxisY, m_pathConfigTup + "\\" + CCDName + "AxisY.tup");
HOperatorSet.WriteTuple(hv_AxisX, m_pathConfigTup + "\\" + CCDName + "AxisX.tup");
GetHomMat2D();
}
catch (Exception ex)
{
m_bHomMat2DOK = false;
halconCCD1_event_StatusText("标定相机异常: " + ex.ToString(), true);
ShowStatusForm("标定相机异常", Color.Red);
}
#endregion
}
}
catch (Exception ex)
{
halconCCD1_event_StatusText("图片处理异常: " + ex.ToString(), true);
}
finally
{
m_bInHandleImage = false;
DispCenterPoint();
}
}
