private void emulsionView_MouseMove(object sender, MouseEventArgs e) { int x = (int)e.GetPosition(emulsionCanvas).X; int y = (int)e.GetPosition(emulsionCanvas).Y; Vector2 point = coord.TransToEmulsionCoord(x, y); xCoordLabel.Content = string.Format("X:{0:000.000}mm", point.X); yCoordLabel.Content = string.Format("Y:{0:000.000}mm", point.Y); }
/// <summary> /// グリッドマークを定義するために描画,ダイアログボックスなどのUIを提供し, /// グリッドマークを定義します. /// <para>ステージのビュワーに,グリッドマークとして定義する座標にバツ印を描画します. /// そして,どのグリッドマークとして定義するかをユーザに確認し, /// 選択されたグリッドマークとして定義します. /// </para> /// </summary> /// <param name="x">定義するグリッドマークのX座標(ビュワー上の座標)</param> /// <param name="y">定義するグリッドマークのY座標(ビュワー上の座標)</param> public void ShowGridMarkDifinitionUi(double x, double y) { Line[] lines = DrawCrossMark(x, y); // Grid markを定義する位置を確認するダイアログボックスを表示する GridMarkDefinitionUtil util = new GridMarkDefinitionUtil(coordManager); SelectGridMarkWindow sgWindow = new SelectGridMarkWindow(); sgWindow.GridMarkPoint = util.NextPoint; // ユーザーがGrid markを定義する位置を選択したならば,その箇所でGridf markを定義する. if ((Boolean)sgWindow.ShowDialog()) { Camera camera = Camera.GetInstance(); Vector2 emulsionSystemPoint = coordManager.TransToEmulsionCoord((int)x, (int)y); coordManager.SetGridMark(emulsionSystemPoint, sgWindow.GridMarkPoint, camera.ArrayImage); WriteLine(string.Format(Properties.Strings.DefineGridMark, sgWindow.GridMarkPoint, emulsionSystemPoint.X, emulsionSystemPoint.Y)); } // バツ印を消去 emulsionViewerCanvas.Children.Remove(lines[0]); emulsionViewerCanvas.Children.Remove(lines[1]); }
private void task() { MotorControler mc = MotorControler.GetInstance(parameterManager); Surface sur = Surface.GetInstance(parameterManager); Camera camera = Camera.GetInstance(); Led led = Led.GetInstance(); CoordManager cm = new CoordManager(parameterManager); Vector3 InitPoint = mc.GetPoint(); List <Vector2> list_grid_pred = new List <Vector2>(); List <Vector2> list_grid_meas = new List <Vector2>(); List <Vector2> list_grid_part = new List <Vector2>(); List <Vector2> list_grid_meas2 = new List <Vector2>(); /* * list_grid_pred.Add(new Vector2( 0.0, 0.0)); * list_grid_pred.Add(new Vector2(30.0, 0.0)); * list_grid_pred.Add(new Vector2( 0.0, 30.0)); * list_grid_pred.Add(new Vector2(30.0, 30.0)); * * list_grid_pred.Add(new Vector2(60.0, 0.0)); * list_grid_pred.Add(new Vector2(0.0, 60.0)); * list_grid_pred.Add(new Vector2(60.0, 60.0)); * * * * * //list_grid_pred.Add(new Vector2(0.0, 10.0)); * //list_grid_pred.Add(new Vector2(10.0, 0.0)); * //list_grid_pred.Add(new Vector2(10.0, 10.0)); * * //list_grid_pred.Add(new Vector2(20.0, 0.0)); * //list_grid_pred.Add(new Vector2(0.0, 20.0)); * //list_grid_pred.Add(new Vector2(20.0, 20.0)); * * //list_grid_pred.Add(new Vector2(20.0, 10.0)); * //list_grid_pred.Add(new Vector2(30.0, 0.0)); * //list_grid_pred.Add(new Vector2(30.0, 10.0)); * //list_grid_pred.Add(new Vector2(10.0, 20.0)); * //list_grid_pred.Add(new Vector2(30.0, 20.0)); * //list_grid_pred.Add(new Vector2(10.0, 30.0)); * //list_grid_pred.Add(new Vector2(20.0, 30.0)); * * camera.Start(); * * Affine ap = new Affine(1.0, 0.0, 0.0, 1.0, 0.0, 0.0); * for (int i = 0; i < list_grid_pred.Count; i++) { * Vector2 predpoint = ap.Trance(list_grid_pred[i]); * //mc.MovePoint(predpoint.X, predpoint.Y, InitPoint.Z + 0.030); * mc.MoveTo(new Vector3(predpoint.X, predpoint.Y, InitPoint.Z + 0.030), new Vector3(0, 0, 0), new Vector3(0, 0, 0)); * mc.Join(); * * led.AdjustLight(parameterManager); * * * bool flag = true; * while (flag) { * mc.MoveDistance(-0.003, VectorId.Z); * mc.Join(); * * * byte[] b = camera.ArrayImage; * Mat src = new Mat(440, 512, MatType.CV_8U, b); * Mat mat = src.Clone(); * * Cv2.GaussianBlur(mat, mat, Cv.Size(3, 3), -1); * Mat gau = mat.Clone(); * Cv2.GaussianBlur(gau, gau, Cv.Size(7, 7), -1); * Cv2.Subtract(gau, mat, mat); * Cv2.Threshold(mat, mat, 4, 1, ThresholdType.Binary); * int brightness = Cv2.CountNonZero(mat); * * if (brightness > 5000 ) flag = false; * } * * Thread.Sleep(100); * * mc.SetSpiralCenterPoint(); * flag = true; * int counter = 0; * while (flag) { * if(counter!=0){ * mc.MoveInSpiral(true); * mc.Join(); * } * counter++; * * Camera c = Camera.GetInstance(); * byte[] b = c.ArrayImage; * Mat mat = new Mat(440, 512, MatType.CV_8U, b); * Cv2.GaussianBlur(mat, mat, Cv.Size(7, 7), -1); * * Cv2.Threshold(mat, mat, 60, 255, ThresholdType.BinaryInv); * * Moments mom = new Moments(mat); * if (mom.M00 < 1000 * 255) continue; * * double cx = mom.M10 / mom.M00; * double cy = mom.M01 / mom.M00; * Mat innercir = Mat.Zeros(440, 512, MatType.CV_8UC1); * Cv2.Circle(innercir, new Point(cx, cy), 10, new Scalar(255, 255, 255), 3); * int innerpath = Cv2.CountNonZero(innercir); * Cv2.BitwiseAnd(innercir, mat, innercir); * int innersum = Cv2.CountNonZero(innercir); * * Mat outercir = Mat.Zeros(440, 512, MatType.CV_8UC1); * Cv2.Circle(outercir, new Point(cx, cy), 100, new Scalar(255, 255, 255), 3); * int outerpath = Cv2.CountNonZero(outercir); * Cv2.BitwiseAnd(outercir, mat, outercir); * int outersum = Cv2.CountNonZero(outercir); * * double innerratio = innersum * 1.0 / innerpath * 1.0; * double outerratio = outersum * 1.0 / outerpath * 1.0; * * if (innerratio < 0.8) continue; * if (outerratio > 0.2) continue; * * flag = false; * * * // * Vector2 grid_meas = cm.TransToEmulsionCoord((int)(cx), (int)(cy)); * * Vector3 to = new Vector3(grid_meas.X, grid_meas.Y, mc.GetPoint().Z); * mc.MoveTo(to, new Vector3(0, 0, 0), new Vector3(0, 0, 0)); * mc.Join(); * * b = c.ArrayImage; * mat = new Mat(440, 512, MatType.CV_8U, b); * Cv2.GaussianBlur(mat, mat, Cv.Size(7, 7), -1); * * Cv2.Threshold(mat, mat, 60, 255, ThresholdType.BinaryInv); * * mom = new Moments(mat); * if (mom.M00 < 1000 * 255) continue; * * cx = mom.M10 / mom.M00; * cy = mom.M01 / mom.M00; * innercir = Mat.Zeros(440, 512, MatType.CV_8UC1); * Cv2.Circle(innercir, new Point(cx, cy), 10, new Scalar(255, 255, 255), 3); * innerpath = Cv2.CountNonZero(innercir); * Cv2.BitwiseAnd(innercir, mat, innercir); * innersum = Cv2.CountNonZero(innercir); * * outercir = Mat.Zeros(440, 512, MatType.CV_8UC1); * Cv2.Circle(outercir, new Point(cx, cy), 100, new Scalar(255, 255, 255), 3); * outerpath = Cv2.CountNonZero(outercir); * Cv2.BitwiseAnd(outercir, mat, outercir); * outersum = Cv2.CountNonZero(outercir); * * innerratio = innersum * 1.0 / innerpath * 1.0; * outerratio = outersum * 1.0 / outerpath * 1.0; * * if (innerratio < 0.8) continue; * if (outerratio > 0.2) continue; * * grid_meas = cm.TransToEmulsionCoord((int)(cx), (int)(cy)); * System.Diagnostics.Debug.WriteLine(string.Format("gridmark {0} {1}", grid_meas.X, grid_meas.Y)); * * * list_grid_meas.Add(grid_meas); * list_grid_part.Add(list_grid_pred[i]); * if (i >= 3) { * ap = Affine.CreateAffineBy(list_grid_part, list_grid_meas); * } * } * * * }//for(int i = 0; i < list_grid_pred.Count; i++) */ Affine ap = new Affine(1.00055550, -0.00152264, 0.00174182, 1.00096792, 12.7498, -62.5798); string txtfileName = string.Format(@"c:\img\grid_g.txt"); StreamWriter twriter = File.CreateText(txtfileName); for (int x = 0; x < 6; x++) { for (int y = 0; y < 6; y++) { //if (x == 0 && y == 5) continue; //if (x == 1 && y == 5) continue; Vector2 predpoint = ap.Trance(new Vector2(x * 10, y * 10)); mc.MoveTo(new Vector3(predpoint.X, predpoint.Y, InitPoint.Z + 0.030)); mc.Join(); led.AdjustLight(parameterManager); bool flag = true; while (flag) { mc.MoveDistance(-0.003, VectorId.Z); mc.Join(); byte[] b = camera.ArrayImage; Mat src = new Mat(440, 512, MatType.CV_8U, b); Mat mat = src.Clone(); Cv2.GaussianBlur(mat, mat, Cv.Size(3, 3), -1); Mat gau = mat.Clone(); Cv2.GaussianBlur(gau, gau, Cv.Size(7, 7), -1); Cv2.Subtract(gau, mat, mat); Cv2.Threshold(mat, mat, 4, 1, ThresholdType.Binary); int brightness = Cv2.CountNonZero(mat); if (brightness > 5000) { flag = false; } } Thread.Sleep(100); byte[] b2 = camera.ArrayImage; Mat src2 = new Mat(440, 512, MatType.CV_8U, b2); Mat mat2 = src2.Clone(); string FileName = string.Format(@"C:\img\x{0}_y{1}.bmp", x, y); Cv2.ImWrite(FileName, mat2); Cv2.GaussianBlur(mat2, mat2, Cv.Size(7, 7), -1); Cv2.Threshold(mat2, mat2, 60, 255, ThresholdType.BinaryInv); Moments mom2 = new Moments(mat2); double cx2 = mom2.M10 / mom2.M00; double cy2 = mom2.M01 / mom2.M00; /* Mat innercir = Mat.Zeros(440, 512, MatType.CV_8UC1); * Cv2.Circle(innercir, new Point(cx2, cy2), 10, new Scalar(255, 255, 255), 3); * int innerpath = Cv2.CountNonZero(innercir); * Cv2.BitwiseAnd(innercir, mat2, innercir); * int innersum = Cv2.CountNonZero(innercir); * * Mat outercir = Mat.Zeros(440, 512, MatType.CV_8UC1); * Cv2.Circle(outercir, new Point(cx2, cy2), 100, new Scalar(255, 255, 255), 3); * int outerpath = Cv2.CountNonZero(outercir); * Cv2.BitwiseAnd(outercir, mat2, outercir); * int outersum = Cv2.CountNonZero(outercir); * * double innerratio = innersum * 1.0 / innerpath * 1.0; * double outerratio = outersum * 1.0 / outerpath * 1.0; */ Vector2 grid_meas2 = cm.TransToEmulsionCoord((int)(cx2), (int)(cy2)); FileName = string.Format(@"C:\img\after_x{0}_y{1}.bmp", x, y); Cv2.ImWrite(FileName, mat2); string stlog = ""; stlog += String.Format("{0} {1} {2:f4} {3:f4} {4:f4} {5:f4}\n", x * 10, y * 10, predpoint.X, predpoint.Y, grid_meas2.X, grid_meas2.Y); twriter.Write(stlog); } //for y } //for x twriter.Close(); }
}//BeamDetection private void task() { MotorControler mc = MotorControler.GetInstance(parameterManager); Camera camera = Camera.GetInstance(); TracksManager tm = parameterManager.TracksManager; Track myTrack = tm.GetTrack(tm.TrackingIndex); Surface surface = Surface.GetInstance(parameterManager); Stopwatch sw = new Stopwatch(); CoordManager coordManager = new CoordManager(parameterManager); //CoordManager coordManager; int mod = parameterManager.ModuleNo; int pl = parameterManager.PlateNo; sw.Start(); try { //MotorControler mc = MotorControler.GetInstance(parameterManager); GridMark nearestMark = coordManager.GetTheNearestGridMark(mc.GetPoint()); System.Diagnostics.Debug.WriteLine(String.Format("{0}, {1}", nearestMark.x, nearestMark.y)); mc.MovePointXY(nearestMark.x, nearestMark.y); mc.Join(); } catch (GridMarkNotFoundException ex) { System.Diagnostics.Debug.WriteLine(String.Format("{0}", ex.ToString())); } try { // MotorControler mc = MotorControler.GetInstance(parameterManager); IGridMarkRecognizer GridMarkRecognizer = coordManager; mc.SetSpiralCenterPoint(); Led led = Led.GetInstance(); Vector2 encoderPoint = new Vector2(-1, -1); encoderPoint.X = mc.GetPoint().X; encoderPoint.Y = mc.GetPoint().Y;//おこられたのでしかたなくこうする 吉田20150427 Vector2 viewerPoint = new Vector2(-1, -1); bool continueFlag = true; while (continueFlag) { led.AdjustLight(parameterManager); viewerPoint = GridMarkRecognizer.SearchGridMarkx50(); if (viewerPoint.X < 0 || viewerPoint.Y < 0) { System.Diagnostics.Debug.WriteLine(String.Format("grid mark not found")); mc.MoveInSpiral(true); mc.Join(); continueFlag = (mc.SpiralIndex < 30); } else { System.Diagnostics.Debug.WriteLine(String.Format("******** {0} {1}", viewerPoint.X, viewerPoint.Y)); encoderPoint = coordManager.TransToEmulsionCoord(viewerPoint); mc.MovePointXY(encoderPoint); mc.Join(); continueFlag = false; } } // while //重心検出と移動を2回繰り返して、グリッドマークを視野中心にもっていく mc.MovePointXY(encoderPoint); mc.Join(); viewerPoint = GridMarkRecognizer.SearchGridMarkx50(); encoderPoint = coordManager.TransToEmulsionCoord(viewerPoint); mc.MovePointXY(encoderPoint); mc.Join(); } catch (Exception ex) { System.Diagnostics.Debug.WriteLine("exception"); } //.........Get value of HFDX and HFDY................// try { Vector3 CurrentCenterPoint = mc.GetPoint(); GridMark nearestMark = coordManager.GetTheNearestGridMark(CurrentCenterPoint); System.Diagnostics.Debug.WriteLine(String.Format("{0}, {1}", CurrentCenterPoint.X, CurrentCenterPoint.Y)); coordManager.HFDX = CurrentCenterPoint.X - nearestMark.x; coordManager.HFDY = CurrentCenterPoint.Y - nearestMark.y; } catch (EntryPointNotFoundException ex) { MessageBox.Show("エントリポイントが見当たりません。 " + ex.Message); System.Diagnostics.Debug.WriteLine("エントリポイントが見当たりません。 " + ex.Message); } //....... Move to track place after revised with shift value.....// double dstx = myTrack.MsX + coordManager.HFDX; double dsty = myTrack.MsY + coordManager.HFDY; mc.MovePointXY(dstx, dsty, delegate { //stage.WriteLine(Properties.Strings.MovingComplete); }); mc.Join(); Led led_ = Led.GetInstance(); led_.AdjustLight(parameterManager); Thread.Sleep(500); //Wait for 5s //////////////////////////////Surfacerecog/////////////////////////////////////...................................///////// try { if (mc.IsMoving) { MessageBoxResult r = MessageBox.Show( Properties.Strings.SurfaceException01, Properties.Strings.Abort + "?", MessageBoxButton.YesNo); if (r == MessageBoxResult.Yes) { mc.AbortMoving(); } else { return; } } //Surface surface = Surface.GetInstance(parameterManager); if (surface.IsActive) { MessageBoxResult r = MessageBox.Show( Properties.Strings.SurfaceException02, Properties.Strings.Abort + "?", MessageBoxButton.YesNo); if (r == MessageBoxResult.Yes) { surface.Abort(); } else { return; } } try { surface.Start(true); } catch (Exception ex) { MessageBox.Show(ex.Message, Properties.Strings.Error); } } catch (Exception ex) { MessageBox.Show(ex.Message, Properties.Strings.Error); } mc.Join(); //...............Beam Pattern Matching..................//////////////// try { string datarootdirpath = string.Format(@"C:\test\bpm\{0}", mod); System.IO.DirectoryInfo mydir = System.IO.Directory.CreateDirectory(datarootdirpath); string[] sp = myTrack.IdString.Split('-'); string uptxt = string.Format(@"c:\test\bpm\{0}\{1}-{2}-{3}-{4}_up.txt", mod, mod, pl, sp[0], sp[1]); string dwtxt = string.Format(@"c:\test\bpm\{0}\{1}-{2}-{3}-{4}_dw.txt", mod, mod, pl - 1, sp[0], sp[1]); BeamDetection(uptxt, true); BeamPatternMatch bpm = new BeamPatternMatch(8, 200); bpm.ReadTrackDataTxtFile(dwtxt, false); bpm.ReadTrackDataTxtFile(uptxt, true); bpm.DoPatternMatch(); //stage.WriteLine(String.Format("pattern match dx,dy = {0}, {1}", bpm.GetPeakX() * 0.2625 * 0.001, bpm.GetPeakY() * 0.2625 * 0.001)); Vector3 BfPoint = mc.GetPoint(); mc.MoveDistance(bpm.GetPeakX() * 0.2625 * 0.001, VectorId.X); mc.Join(); mc.MoveDistance(-bpm.GetPeakY() * 0.2625 * 0.001, VectorId.Y); mc.Join(); Led led = Led.GetInstance(); led.AdjustLight(parameterManager); Vector3 AfPoint = mc.GetPoint(); //stage.WriteLine(String.Format("Move dx,dy = {0}, {1}", BfPoint.X - AfPoint.X, BfPoint.Y - AfPoint.Y)); } catch (ArgumentOutOfRangeException) { MessageBox.Show("ID numver is not existed。 "); } catch (System.Exception) { MessageBox.Show("No beam battern。 "); } // } /////////////////////////////SurfaceRecog//////////////////////////////////////////////////////////////////////////// Vector3 initial = mc.GetPoint();///////initialpoint double Sh = 0.5 / (surface.UpTop - surface.UpBottom); //ここから角度によって撮影間隔を変更するように書き換える。 double tansi = Math.Sqrt(myTrack.MsDX * myTrack.MsDX + myTrack.MsDY * myTrack.MsDY); double theta = Math.Atan(tansi); //絶対値の大きさを入れる。dzはマイナスの値になるようにする。 double dz; double dz_price_img = (6 * Math.Cos(theta) / Sh) / 1000; double dz_img = dz_price_img * (-1); // string datarootdirpathw = string.Format(@"C:\test\{0}", myTrack.IdString); System.IO.DirectoryInfo mydir_ = System.IO.Directory.CreateDirectory(datarootdirpathw); // //必要なlistをまとめる //List<ImageTaking> LiITUpTrack = new List<ImageTaking>(); List <OpenCvSharp.CPlusPlus.Point2d> Msdxdy = new List <OpenCvSharp.CPlusPlus.Point2d>(); Msdxdy.Add(new OpenCvSharp.CPlusPlus.Point2d(myTrack.MsDX, myTrack.MsDY)); List <OpenCvSharp.CPlusPlus.Point3d> LStage = new List <OpenCvSharp.CPlusPlus.Point3d>(); List <OpenCvSharp.CPlusPlus.Point> LPeak = new List <OpenCvSharp.CPlusPlus.Point>(); //i番目の画像で実際に見つかったトラックの座標。pixel座標で視野中心からの差分。 List <Point3d> LTrack = new List <Point3d>(); //i番目の画像で実際に見つかったトラックの座標のステージ座標 List <List <ImageTaking> > UpTrackInfo = new List <List <ImageTaking> >(); //エラー防止のために下ゲルの処理の際に必要なListをここに移動した。 double Sh_low; Sh_low = 0.5 / (surface.LowTop - surface.LowBottom); List <OpenCvSharp.CPlusPlus.Point2d> Msdxdy_Low = new List <OpenCvSharp.CPlusPlus.Point2d>(); //List<ImageTaking> LiITLowMid = new List<ImageTaking>(); List <OpenCvSharp.CPlusPlus.Point3d> LStage_Low = new List <OpenCvSharp.CPlusPlus.Point3d>(); List <OpenCvSharp.CPlusPlus.Point> LPeak_Low = new List <OpenCvSharp.CPlusPlus.Point>(); //i番目の画像で実際に見つかったトラックの座標。pixel座標で視野中心からの差分。 List <Point3d> LTrack_Low = new List <Point3d>(); //i番目の画像で実際に見つかったトラックの座標のステージ座標 List <List <ImageTaking> > LowTrackInfo = new List <List <ImageTaking> >(); //今までのtrack追跡プログラムとは異なる角度等の使い方をする。 dz_price_img = (6 * Math.Cos(theta) / Sh) / 1000; dz_img = dz_price_img * (-1); dz = dz_img; int gotobase = 0; int not_detect = 0; for (int i = 0; gotobase < 1; i++) { ///////移動して画像処理をしたときに、baseの中に入らないようにする。 Vector3 initialpos = mc.GetPoint(); double moverange = 7 * dz_img; double predpoint = moverange + initialpos.Z; if (predpoint < surface.UpBottom)//もしもbaseに入りそうなら、8枚目の画像がちょうどbaseを撮影するようにdzを調整する。 { gotobase = 1; dz = surface.UpBottom - initialpos.Z + 7 * dz_price_img; } //////// //gotobase = 1のときは、移動して画像を撮影するようにする。 if (i != 0) { Vector3 dstpoint = new Vector3( LTrack[i - 1].X + Msdxdy[i].X * dz * Sh, LTrack[i - 1].Y + Msdxdy[i].Y * dz * Sh, LTrack[i - 1].Z + dz ); mc.MovePoint(dstpoint); mc.Join(); } List <ImageTaking> LiITUpMid = TakeSequentialImage( Msdxdy[i].X * Sh, Msdxdy[i].Y * Sh, dz_img, 8); ////画像の保存、座標の保存。 LStage.Add(new OpenCvSharp.CPlusPlus.Point3d(LiITUpMid[7].StageCoord.X, LiITUpMid[7].StageCoord.Y, LiITUpMid[7].StageCoord.Z)); LiITUpMid[7].img.ImWrite(datarootdirpathw + string.Format(@"\img_l_up_{0}.bmp", i)); UpTrackInfo.Add(LiITUpMid);//撮影した8枚の画像と、撮影した位置を記録する。 //撮影した画像をここで処理する。 List <Mat> binimages = new List <Mat>(); for (int t = 0; t <= 7; t++) { Mat bin = (Mat)DogContrastBinalize(LiITUpMid[t].img); double xx = myTrack.MsDX * myTrack.MsDX; double yy = myTrack.MsDY * myTrack.MsDY; if (Math.Sqrt(xx + yy) >= 0.4) { Cv2.Dilate(bin, bin, new Mat()); } Cv2.Dilate(bin, bin, new Mat()); binimages.Add(bin); } //trackを重ねる処理を入れる。 Point2d pixel_cen = TrackDetection(binimages, 256, 220, 3, 3, 4, 90, 3);//画像の8枚目におけるtrackのpixel座標を算出する。 if (pixel_cen.X == -1 & pixel_cen.Y == -1) { //追跡に失敗した時に最後に検出したtrack座標に移動してから、追跡に失敗した地点の画像を撮影するようにする。 //mc.MovePoint(LTrack[i - 1].X, LTrack[i - 1].Y, LTrack[i - 1].Z); mc.Join(); not_detect = 1; goto not_detect_track; } //検出したpixel座標をstage座標に変換するなどlistに追加する。 LPeak.Add(new OpenCvSharp.CPlusPlus.Point(pixel_cen.X - 256, pixel_cen.Y - 220)); double firstx = LStage[i].X - LPeak[i].X * 0.000267; double firsty = LStage[i].Y + LPeak[i].Y * 0.000267; double firstz = LStage[i].Z; LTrack.Add(new Point3d(firstx, firsty, firstz)); // //上側乳剤層上面の1回目のtrack検出によって、次のtrackの位置を検出する角度を求める。 //その角度が、1回目のtrack検出の結果によって大きな角度にならないように調整をする。 if (i == 0) { Msdxdy.Add(new OpenCvSharp.CPlusPlus.Point2d(myTrack.MsDX, myTrack.MsDY)); } else if (i == 1) { List <Point3d> LTrack_ghost = new List <Point3d>(); double dzPrev = (LStage[0].Z - surface.UpTop) * Sh; double Lghost_x = LTrack[0].X - Msdxdy[i].X * dzPrev; double Lghost_y = LTrack[0].Y - Msdxdy[i].Y * dzPrev; LTrack_ghost.Add(new Point3d(Lghost_x, Lghost_y, surface.UpTop));//上側乳剤層上面にtrackがあるならどの位置にあるかを算出する。 string txtfileName_ltrackghost = datarootdirpathw + string.Format(@"\LTrack_ghost.txt"); StreamWriter twriter_ltrackghost = File.CreateText(txtfileName_ltrackghost); twriter_ltrackghost.WriteLine("{0} {1} {2}", LTrack_ghost[0].X, LTrack_ghost[0].Y, LTrack_ghost[0].Z); twriter_ltrackghost.Close(); OpenCvSharp.CPlusPlus.Point2d Tangle = ApproximateStraight(Sh, LTrack_ghost[0], LTrack[0], LTrack[1]); Msdxdy.Add(new OpenCvSharp.CPlusPlus.Point2d(Tangle.X, Tangle.Y)); } else { OpenCvSharp.CPlusPlus.Point2d Tangle = ApproximateStraight(Sh, LTrack[i - 2], LTrack[i - 1], LTrack[i]); Msdxdy.Add(new OpenCvSharp.CPlusPlus.Point2d(Tangle.X, Tangle.Y)); } }//for i-loop //baseまたぎ int ltrack_counter = LTrack.Count(); int msdxdy_counter = Msdxdy.Count(); mc.MovePoint( LTrack[ltrack_counter - 1].X + Msdxdy[msdxdy_counter - 1].X * (surface.LowTop - surface.UpBottom), LTrack[ltrack_counter - 1].Y + Msdxdy[msdxdy_counter - 1].Y * (surface.LowTop - surface.UpBottom), surface.LowTop ); mc.Join(); //////ここから下gelの処理 Msdxdy_Low.Add(new OpenCvSharp.CPlusPlus.Point2d(Msdxdy[msdxdy_counter - 1].X, Msdxdy[msdxdy_counter - 1].Y)); //今までのtrack追跡プログラムとは異なる角度等の使い方をする。 dz_price_img = (6 * Math.Cos(theta) / Sh_low) / 1000; dz_img = dz_price_img * (-1); dz = dz_img; int goto_dgel = 0; for (int i = 0; goto_dgel < 1; i++) { ///////移動して画像処理をしたときに、下gelの下に入らないようにする。 Vector3 initialpos = mc.GetPoint(); double moverange = 7 * dz_img; double predpoint = moverange + initialpos.Z; if (predpoint < surface.LowBottom)//もしもbaseに入りそうなら、8枚目の画像がちょうど下gelを撮影するようにdzを調整する。 { goto_dgel = 1; dz = surface.LowBottom - initialpos.Z + 7 * dz_price_img; } //////// //goto_dgel == 1のときは、移動して画像を撮影するようにする。 if (i != 0) { Vector3 dstpoint = new Vector3( LTrack_Low[i - 1].X + Msdxdy_Low[i].X * dz * Sh_low, LTrack_Low[i - 1].Y + Msdxdy_Low[i].Y * dz * Sh_low, LTrack_Low[i - 1].Z + dz ); mc.MovePoint(dstpoint); mc.Join(); } //今までのtrack追跡プログラムとは異なる角度等の使い方をする。 List <ImageTaking> LiITLowMid = TakeSequentialImage( Msdxdy[i].X * Sh_low, Msdxdy[i].Y * Sh_low, dz_img, 8); //画像・座標の記録 LStage_Low.Add(new OpenCvSharp.CPlusPlus.Point3d(LiITLowMid[7].StageCoord.X, LiITLowMid[7].StageCoord.Y, LiITLowMid[7].StageCoord.Z)); LiITLowMid[7].img.ImWrite(datarootdirpathw + string.Format(@"\img_l_low_{0}.bmp", i)); LowTrackInfo.Add(LiITLowMid);//撮影した8枚の画像と、撮影した位置を記録する。 //撮影した画像をここで処理する。 List <Mat> binimages = new List <Mat>(); for (int t = 0; t <= 7; t++) { Mat bin = (Mat)DogContrastBinalize(LiITLowMid[t].img); double xx = myTrack.MsDX * myTrack.MsDX; double yy = myTrack.MsDY * myTrack.MsDY; if (Math.Sqrt(xx + yy) >= 0.4) { Cv2.Dilate(bin, bin, new Mat()); } Cv2.Dilate(bin, bin, new Mat()); binimages.Add(bin); } //trackを重ねる処理を入れる。 Point2d pixel_cen = TrackDetection(binimages, 256, 220, 3, 3, 4, 90, 3);//画像の8枚目におけるtrackのpixel座標を算出する。 //もし検出に失敗した場合はループを抜ける。 if (pixel_cen.X == -1 & pixel_cen.Y == -1) { //mc.MovePoint(LTrack_Low[i - 1].X, LTrack_Low[i - 1].Y, LTrack_Low[i - 1].Z); mc.Join(); not_detect = 1; goto not_detect_track; } // //検出したpixel座標をstage座標に変換するなどlistに追加する。 LPeak_Low.Add(new OpenCvSharp.CPlusPlus.Point(pixel_cen.X - 256, pixel_cen.Y - 220)); double firstx = LStage_Low[i].X - LPeak_Low[i].X * 0.000267; double firsty = LStage_Low[i].Y + LPeak_Low[i].Y * 0.000267; double firstz = LStage_Low[i].Z; LTrack_Low.Add(new Point3d(firstx, firsty, firstz)); // //ここからは、最小二乗法で角度を算出するプログラムである。 //上側乳剤層上面の1回目のtrack検出によって、次のtrackの位置を検出する角度を求める。 //その角度が、1回目のtrack検出の結果によって大きな角度にならないように調整をする。 if (i == 0) { OpenCvSharp.CPlusPlus.Point2d Tangle_l = ApproximateStraightBase(Sh, Sh_low, LTrack[ltrack_counter - 2], LTrack[ltrack_counter - 1], LTrack_Low[i], surface); Msdxdy_Low.Add(new OpenCvSharp.CPlusPlus.Point2d(Tangle_l.X, Tangle_l.Y)); } else if (i == 1) { OpenCvSharp.CPlusPlus.Point2d Tangle_l = ApproximateStraightBase(Sh, Sh_low, LTrack[ltrack_counter - 1], LTrack_Low[i - 1], LTrack_Low[i], surface); Msdxdy_Low.Add(new OpenCvSharp.CPlusPlus.Point2d(Tangle_l.X, Tangle_l.Y)); } else { OpenCvSharp.CPlusPlus.Point2d Tangle_l = ApproximateStraight(Sh_low, LTrack_Low[i - 2], LTrack_Low[i - 1], LTrack_Low[i]); Msdxdy_Low.Add(new OpenCvSharp.CPlusPlus.Point2d(Tangle_l.X, Tangle_l.Y)); } }//i_loop // int ltrack_low_count = LTrack_Low.Count(); mc.MovePointXY(LTrack_Low[ltrack_low_count - 1].X, LTrack_Low[ltrack_low_count - 1].Y); mc.Join(); //検出に失敗した場合は、ループを抜けてここに来る。 not_detect_track :;//検出に失敗したと考えられる地点で画像を取得し、下ゲル下面まで移動する。(現在は下ゲル下面とするが、今後変更する可能性有。) if (not_detect != 0) { //写真撮影 List <ImageTaking> NotDetect = TakeSequentialImage( Msdxdy[0].X * Sh, Msdxdy[0].Y * Sh, 0, 1); string txtfileName_t_not_detect = datarootdirpathw + string.Format(@"\not_detect.txt"); StreamWriter twriter_t_not_detect = File.CreateText(txtfileName_t_not_detect); for (int i = 0; i < NotDetect.Count; i++) { NotDetect[i].img.ImWrite(datarootdirpathw + string.Format(@"\img_t_not_detect.bmp")); Vector3 p = NotDetect[i].StageCoord; twriter_t_not_detect.WriteLine("{0} {1} {2} {3}", i, p.X, p.Y, p.Z); } twriter_t_not_detect.Close(); mc.MovePointZ(surface.LowBottom); mc.Join(); } //file write out up_gel string txtfileName_sh_up = datarootdirpathw + string.Format(@"\Sh_up.txt"); StreamWriter twriter_sh_up = File.CreateText(txtfileName_sh_up); twriter_sh_up.WriteLine("{0}", Sh); twriter_sh_up.Close(); //file write out string txtfileName_t_info_up = datarootdirpathw + string.Format(@"\location_up.txt"); StreamWriter twriter_t_info_up = File.CreateText(txtfileName_t_info_up); for (int i = 0; i < UpTrackInfo.Count; i++) { for (int t = 0; t < UpTrackInfo[i].Count; t++) { UpTrackInfo[i][t].img.ImWrite(datarootdirpathw + string.Format(@"\img_t_info_up_{0}-{1}.bmp", i, t)); Vector3 p = UpTrackInfo[i][t].StageCoord; twriter_t_info_up.WriteLine("{0} {1} {2} {3} {4}", i, t, p.X, p.Y, p.Z); } } twriter_t_info_up.Close(); string txtfileName_lpeak = datarootdirpathw + string.Format(@"\lpeak_up.txt"); StreamWriter twriter_lpeak = File.CreateText(txtfileName_lpeak); for (int i = 0; i < LPeak.Count(); i++) { OpenCvSharp.CPlusPlus.Point p = LPeak[i]; twriter_lpeak.WriteLine("{0} {1} {2}", i, p.X, p.Y); } twriter_lpeak.Close(); string txtfileName_ltrack = datarootdirpathw + string.Format(@"\ltrack_up.txt"); StreamWriter twriter_ltrack = File.CreateText(txtfileName_ltrack); for (int i = 0; i < LTrack.Count(); i++) { OpenCvSharp.CPlusPlus.Point3d p = LTrack[i]; twriter_ltrack.WriteLine("{0} {1} {2} {3}", i, p.X, p.Y, p.Z); } twriter_ltrack.Close(); string txtfileName_msdxdy = datarootdirpathw + string.Format(@"\msdxdy.txt"); StreamWriter twriter_msdxdy = File.CreateText(txtfileName_msdxdy); for (int i = 0; i < Msdxdy.Count(); i++) { OpenCvSharp.CPlusPlus.Point2d p = Msdxdy[i]; twriter_msdxdy.WriteLine("{0} {1} {2}", i, p.X, p.Y); } twriter_msdxdy.Close(); //file write out low_gel string txtfileName_sh_low = datarootdirpathw + string.Format(@"\Sh_low.txt"); StreamWriter twriter_sh_low = File.CreateText(txtfileName_sh_low); twriter_sh_low.WriteLine("{0}", Sh_low); twriter_sh_low.Close(); string txtfileName_t_info_low = datarootdirpathw + string.Format(@"\location_low.txt"); StreamWriter twriter_t_info_low = File.CreateText(txtfileName_t_info_low); for (int i = 0; i < LowTrackInfo.Count; i++) { for (int t = 0; t < LowTrackInfo[i].Count; t++) { LowTrackInfo[i][t].img.ImWrite(datarootdirpathw + string.Format(@"\img_t_info_low_{0}-{1}.bmp", i, t)); Vector3 p = LowTrackInfo[i][t].StageCoord; twriter_t_info_low.WriteLine("{0} {1} {2} {3} {4}", i, t, p.X, p.Y, p.Z); } } twriter_t_info_low.Close(); string txtfileName_lpeak_low = datarootdirpathw + string.Format(@"\lpeak_low.txt"); StreamWriter twriter_lpeak_low = File.CreateText(txtfileName_lpeak_low); for (int i = 0; i < LPeak_Low.Count(); i++) { OpenCvSharp.CPlusPlus.Point p = LPeak_Low[i]; twriter_lpeak_low.WriteLine("{0} {1} {2}", i, p.X, p.Y); } twriter_lpeak_low.Close(); string txtfileName_ltrack_low = datarootdirpathw + string.Format(@"\ltrack_low.txt"); StreamWriter twriter_ltrack_low = File.CreateText(txtfileName_ltrack_low); for (int i = 0; i < LTrack_Low.Count(); i++) { OpenCvSharp.CPlusPlus.Point3d p = LTrack_Low[i]; twriter_ltrack_low.WriteLine("{0} {1} {2} {3}", i, p.X, p.Y, p.Z); } twriter_ltrack_low.Close(); string txtfileName_msdxdy_low = datarootdirpathw + string.Format(@"\msdxdy_low.txt"); StreamWriter twriter_msdxdy_low = File.CreateText(txtfileName_msdxdy_low); for (int i = 0; i < Msdxdy_Low.Count(); i++) { OpenCvSharp.CPlusPlus.Point2d p = Msdxdy_Low[i]; twriter_msdxdy_low.WriteLine("{0} {1} {2}", i, p.X, p.Y); } twriter_msdxdy_low.Close();//*/ //.................Taking Photo in buttom of down layer.......................// try { string[] sp = myTrack.IdString.Split('-'); string dwtxt = string.Format(@"c:\test\bpm\{0}\{1}-{2}-{3}-{4}_dw.txt", mod, mod, pl, sp[0], sp[1]); string datarootdirpath = string.Format(@"C:\test\bpm\{0}", mod); System.IO.DirectoryInfo mydir = System.IO.Directory.CreateDirectory(datarootdirpath); System.IO.DirectoryInfo mydir2 = System.IO.Directory.CreateDirectory(datarootdirpath); BeamDetection(dwtxt, false); } catch (ArgumentOutOfRangeException) { MessageBox.Show("ID is not exist "); } //...............Move to top surfacr of upper layer........................// try { Vector3 cc = mc.GetPoint(); double Zp = surface.UpTop; mc.MoveTo(new Vector3(cc.X, cc.Y, Zp)); mc.Join(); } catch (ArgumentOutOfRangeException) { MessageBox.Show("Cannot move to top surface of upperlayer "); } // .......................................................................// sw.Stop(); string[] sp1 = myTrack.IdString.Split('-'); string logtxt_ = string.Format(@"c:\test\bpm\{0}\{1}-{2}_log_.txt", mod, mod, pl); //string log_ = string.Format("{0} \n", sw.Elapsed); string log_ = string.Format("{0} {1} {2} \n", sp1[0], sp1[1], sw.Elapsed); StreamWriter swr = new StreamWriter(logtxt_, true, Encoding.ASCII); swr.Write(log_); swr.Close(); }
/// <summary> /// searchThreadが行う処理です.このメソッドを直接呼び出さないでください. /// </summary> private void searchThread_Task() { if (Started != null) { Started(this, new EventArgs()); } Camera camera = Camera.GetInstance(); camera.Start(); for (int i = coordManager.DefinedGridMarkNum; i < CoordManager.AllGridMarksNum; ++i) { GridMarkPoint presentMark = utility.NextPoint; Vector2 nextGridCoord = utility.GetGridMarkCoord(presentMark); MotorControler mc = MotorControler.GetInstance(parameterManager); Led led = Led.GetInstance(); mc.MovePointXY(nextGridCoord, new Action(delegate { mc.SetSpiralCenterPoint(); })); mc.Join(); Surface surface = Surface.GetInstance(parameterManager); bool moveContinue = true; mc.MoveDistance(0.1, VectorId.Z); mc.Join(); Thread.Sleep(100); led.AdjustLight(parameterManager); while (moveContinue) { mc.MoveDistance(-0.01, VectorId.Z); mc.Join(); byte[] b = camera.ArrayImage; Mat mat0 = new Mat(440, 512, MatType.CV_8U, b); Mat mat = mat0.Clone(); Cv2.GaussianBlur(mat, mat, Cv.Size(3, 3), -1); //mat.ImWrite(String.Format(@"c:\img\{0}_g.bmp", // System.DateTime.Now.ToString("yyyyMMdd_HHmmss_fff"))); Mat gau = mat.Clone(); Cv2.GaussianBlur(gau, gau, Cv.Size(31, 31), -1); Cv2.Subtract(gau, mat, mat); Cv2.Threshold(mat, mat, 10, 255, ThresholdType.Binary); int brightness = Cv2.CountNonZero(mat); //mat.ImWrite(String.Format(@"c:\img\{0}_t.bmp", // System.DateTime.Now.ToString("yyyyMMdd_HHmmss_fff"))); moveContinue = (brightness < 15000); } led.AdjustLight(parameterManager); /* グリッドマークを検出する */ // 入力画像にて,グリッドマーク検出を行う. // 見つからなかった場合はNumOfSpiralSearchの回数分だけらせん移動を行い探す. bool continueFlag = true; while (continueFlag) { GridMarkEventArgs eventArgs = new GridMarkEventArgs(); eventArgs.GridMarkPoint = presentMark; try { Vector2 viewerPoint = GridMarkRecognizer.SearchGridMark(); Vector2 encoderPoint = coordManager.TransToEmulsionCoord(viewerPoint); mc.MovePointXY(encoderPoint); mc.Join(); Thread.Sleep(100); viewerPoint = GridMarkRecognizer.SearchGridMark(); encoderPoint = coordManager.TransToEmulsionCoord(viewerPoint); mc.MovePointXY(encoderPoint); mc.Join(); Thread.Sleep(100); coordManager.SetGridMark(encoderPoint, presentMark, camera.ArrayImage); continueFlag = false; if (Found != null) { Vector3 position = mc.GetPoint(); eventArgs.ViewerPoint = new Vector2(position.X, position.Y); eventArgs.EncoderPoint = encoderPoint; eventArgs.GridMarkPoint = presentMark; Found(this, eventArgs); } } catch (GridMarkNotFoundException) { mc.MoveInSpiral(true); continueFlag = (mc.SpiralIndex < NumOfSpiralSearch); if (!continueFlag && NotFound != null) { NotFound(this, eventArgs); } } } // while } // for // 座標系の生成 coordManager.CreateCoordSystem(); }