public void ShowImage(IJFImage img)
{
if (null == img)
{
_hcWnd.ClearWindow();
return;
//img.DisplayTo(pPicWnd);
}
else
{
if (null != _hoImge)
{
_hoImge.Dispose();
_hoImge = null;
}
object oImg = null;
int err = img.GenHalcon(out oImg);
if (0 != err)
{
_hcWnd.ClearWindow();
ShowTips("图像显示失败!错误信息:" + img.GetErrorInfo(err));
}
_hoImge = oImg as HObject;
HOperatorSet.SetPart(_hcWnd, 0, 0, img.PicHeight - 1, img.PicWidth - 1);// ch: 使图像显示适应窗口大小 || en: Make the image adapt the window size
HOperatorSet.DispObj(_hoImge, _hcWnd);
ShowTips("图像已显示");
}
}
/// <summary>
/// Repaints the HALCON window 'window'
/// </summary>
private void Repaint(HWindow window)
{
if (window.Handle == (IntPtr)0)
{
return;
}
//线程锁定
lock (LockDisplay)
{
HObject obj;
HSystem.SetSystem("flush_graphic", "false");
window.ClearWindow();
for (int i = 0; i < HObjList.Count; i++)
{
obj = HObjList[i];
window.DispObj(obj);
}
//显示十字线
if (IsDisplayCross)
{
DisplayCross(window);
}
//显示Region和XLD
ShowHObjectList(window);
//显示所有ROI的合并区域
if (IsGatherRegionShow)
{
DisplayGatherRegion(window);
}
if (RoiController != null && (dispROI == MODE_INCLUDE_ROI))
{
RoiController.PaintData(window);
}
//显示文本
ShowTextList(window);
//显示消息
ShowMessageList(window);
//显示待生成ROI的预览
if (RoiController.ROI != null && RoiController.RoiDrawConfig.IsDrawPrepare)
{
window.SetColor(RoiController.ActiveCol); //设置颜色
window.SetLineStyle(new HTuple(new int[] { 2, 2 })); //设置显示为虚线
RoiController.ROI.Draw(window); //显示待生成的ROI
}
HSystem.SetSystem("flush_graphic", "true");
window.SetColor("black");
window.DispLine(-100.0, -100.0, -101.0, -101.0);
}
}
//打开图片
public void button_Open_Picture_Click(object sender, EventArgs e)
{
OpenFileDialog openfile = new OpenFileDialog();
OpenFileDialog openFileDialog1 = new OpenFileDialog();
openFileDialog1.Filter = "BMP文件|*.bmp*|PNG文件|*.png*|JPEG文件|*.jpg*";
openFileDialog1.RestoreDirectory = true;
openFileDialog1.FilterIndex = 1;
if (openFileDialog1.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
ImagePath = openFileDialog1.FileName;
HObject Image;
HOperatorSet.GenEmptyObj(out Image);
hwindow = hWindowControl1.HalconWindow;
hwindow.ClearWindow();
HOperatorSet.ReadImage(out Image, ImagePath);
HOperatorSet.Rgb1ToGray(Image, out getImage);
//ImagePath_state = 1;
HOperatorSet.GetImageSize(getImage, out ImageWidth, out ImageHeight);
HOperatorSet.SetPart(hwindow, 0, 0, ImageHeight - 1, ImageWidth - 1);
HOperatorSet.DispObj(getImage, hwindow);
button_Roi.Enabled = true;
trackBar_Threshold.Enabled = true;
button_Threshold.Enabled = true;
button_Input_Set.Enabled = true;
button_Do.Enabled = true;
textBox_Threshold.Enabled = true;
}
}
private void RefreshHalconScreen()
{
if (_windowHandle == null)
{
return;
}
_windowHandle.ClearWindow();
var result2D = SocketToDisplay == CavityType.Cavity1 ? LeftGraphics : RightGraphics;
UpdateImageIndexList(result2D);
if (result2D.Images == null || result2D.Images.Count == 0)
{
return;
}
var image = result2D.Images[ImageIndexToDisplay];
var graphics = result2D.Graphics;
_windowHandle.DispImage(image);
if (graphics != null)
{
_windowHandle.DispObj(graphics);
}
var errorMessage = result2D.ErrorMessage;
if (errorMessage != null)
{
_windowHandle.DispText(errorMessage, "window", 20, 20, "red", "border_radius", 2);
}
}
public void repaint()
{
HSystem.SetSystem("flush_graphic", "false");
HWindow.ClearWindow();
try
{
if (image != null)
{
HWindow.DispObj(image);
}
HWindow.SetDraw("margin");
HWindow.SetColor("red");
if (region != null)
{
HWindow.DispObj(region);
}
}
catch (System.Exception ex)
{
}
finally
{
HSystem.SetSystem("flush_graphic", "true");
//注释了下面语句,会导致窗口无法实现缩放和拖动
HWindow.SetColor("dim gray");
HWindow.DispLine(-100.0, -100.0, -101.0, -101.0);
}
}
void clearDisplay()
{
hWindow.ClearWindow();
graphicsQueue.Clear();
hImage.GetImageSize(out width, out height);
hWindow.SetPart(0, 0, height, width);
hWindow.DispImage(hImage);
}
/// <summary>
/// Repaints the HALCON window 'window' using BufferWindow
/// </summary>
public void repaintUsingBufferWindow(HalconDotNet.HWindow window)
{
int count = HObjList.Count;
HObjectEntry entry;
// modified
if ((windowWidth > 0) && (windowHeight > 0))
{
if (bufferWindow == null)
{
bufferWindow = new HWindow(0, 0, windowWidth, windowHeight, "root", "buffer", "");
// check the boundatries of the image part
if ((ImgRow2 > ImgRow1) && (ImgCol2 > ImgCol1))
{
bufferWindow.SetPart((int)ImgRow1, (int)ImgCol1, (int)ImgRow2, (int)ImgCol2);
}
// set the image part to window size
else
{
bufferWindow.SetPart(0, 0, windowHeight - 1, windowWidth - 1);
}
}
else
{
bufferWindow.ClearWindow();
}
mGC.stateOfSettings.Clear();
// display the graphic stack on the buffer window
for (int i = 0; i < count; i++)
{
entry = ((HObjectEntry)HObjList[i]);
if (entry != null)
{
mGC.applyContext(window, entry.gContext);
mGC.applyContext(bufferWindow, entry.gContext);
bufferWindow.DispObj(entry.HObj);
}
}
addInfoDelegate();
// if any rois exists add this to buffer window
if (roiManager != null && (dispROI == MODE_INCLUDE_ROI))
{
roiManager.paintData(bufferWindow);
}
// copy the content of buffer window to HWindow
bufferWindow.CopyRectangle(window, 0, 0, windowHeight - 1, windowWidth - 1, 0, 0);
// dispose the buffer window
bufferWindow.Dispose();
bufferWindow = null;
}
}
/*******************************************************************/
private void mouseMoved(object sender, hvppleDotNet.HMouseEventArgs e)
{
//关闭缩放事件
if (isStaticWnd)
{
return;
}
double motionX = 0, motionY = 0;
double posX, posY;
double zoomZone;
if (!mousePressed)
{
return;
}
if (roiManager != null && (roiManager.activeROIidx != -1) && (dispROI == MODE_INCLUDE_ROI))
{
roiManager.mouseMoveAction(e.X, e.Y);
}
else if (stateView == MODE_VIEW_MOVE)
{
if (imageShowWidth > viewPort.Width || imageShowHeight > viewPort.Height)
{
motionX = ((e.X - startX));
motionY = ((e.Y - startY));
if (((int)motionX != 0) || ((int)motionY != 0))
{
moveImage(motionX, motionY);
startX = e.X - motionX;
startY = e.Y - motionY;
}
}
}
else if (stateView == MODE_VIEW_ZOOMWINDOW)
{
HSystem.SetSystem("flush_graphic", "false");
ZoomWindow.ClearWindow();
posX = ((e.X - ImgCol1) / (ImgCol2 - ImgCol1)) * viewPort.Width;
posY = ((e.Y - ImgRow1) / (ImgRow2 - ImgRow1)) * viewPort.Height;
zoomZone = (zoomWndSize / 2) * xScale * zoomAddOn;
ZoomWindow.SetWindowExtents((int)posY - (zoomWndSize / 2),
(int)posX - (zoomWndSize / 2),
zoomWndSize, zoomWndSize);
ZoomWindow.SetPart((int)(e.Y - zoomZone), (int)(e.X - zoomZone),
(int)(e.Y + zoomZone), (int)(e.X + zoomZone));
repaint(ZoomWindow);
HSystem.SetSystem("flush_graphic", "true");
ZoomWindow.DispLine(-100.0, -100.0, -100.0, -100.0);
}
}
private void MouseMove(object sender, HMouseEventArgsWPF e)
{
double motionX, motionY;
double posX, posY;
double zoomZone;
//判断是否有待生成的ROI
if (RoiController.ROI != null)
{
RoiController.ROI.CreateROI(e.Column, e.Row); //设置ROI位置
Repaint(); //刷新显示
}
if (!mousePressed)
{
return;
}
if (RoiController != null && (RoiController.ActiveROIidx != -1) && (dispROI == MODE_INCLUDE_ROI))
{
RoiController.MouseMoveAction(e.Column, e.Row);
}
else if (stateView == MODE_VIEW_MOVE)
{
motionX = ((e.Column - startX));
motionY = ((e.Row - startY));
if (((int)motionX != 0) || ((int)motionY != 0))
{
MoveImage(motionX, motionY);
startX = e.Column - motionX;
startY = e.Row - motionY;
}
}
else if (stateView == MODE_VIEW_ZOOMWINDOW)
{
HSystem.SetSystem("flush_graphic", "false");
ZoomWindow.ClearWindow();
posX = ((e.Column - ImgX) / (ImgWidth - ImgX)) * viewPort.ActualWidth;
posY = ((e.Row - ImgY) / (ImgHeight - ImgY)) * viewPort.ActualHeight;
zoomZone = (zoomWndSize / 2) * zoomWndFactor * zoomAddOn;
ZoomWindow.SetWindowExtents((int)posY - (zoomWndSize / 2),
(int)posX - (zoomWndSize / 2),
zoomWndSize, zoomWndSize);
ZoomWindow.SetPart((int)(e.Row - zoomZone), (int)(e.Column - zoomZone),
(int)(e.Row + zoomZone), (int)(e.Column + zoomZone));
Repaint(ZoomWindow);
HSystem.SetSystem("flush_graphic", "true");
ZoomWindow.DispLine(-100.0, -100.0, -100.0, -100.0);
}
}
/*******************************************************************/
private void mouseMoved(object sender, HalconDotNet.HMouseEventArgs e)
{
double motionX, motionY;
double posX, posY;
double zoomZone;
PointF point = new PointF((float)e.X, (float)e.Y);
if (m_event_disCurrentPoint != null)
{
m_event_disCurrentPoint(point);
}
if (!mousePressed)
{
return;
}
if (roiManager != null && (roiManager.activeROIidx != -1) && (dispROI == MODE_INCLUDE_ROI))
{
roiManager.mouseMoveAction(e.X, e.Y);
}
else if (stateView == MODE_VIEW_MOVE)
{
motionX = ((e.X - startX));
motionY = ((e.Y - startY));
if (((int)motionX != 0) || ((int)motionY != 0))
{
moveImage(motionX, motionY);
startX = e.X - motionX;
startY = e.Y - motionY;
}
}
else if (stateView == MODE_VIEW_ZOOMWINDOW)
{
HSystem.SetSystem("flush_graphic", "false");
ZoomWindow.ClearWindow();
posX = ((e.X - ImgCol1) / (ImgCol2 - ImgCol1)) * viewPort.Width;
posY = ((e.Y - ImgRow1) / (ImgRow2 - ImgRow1)) * viewPort.Height;
zoomZone = (zoomWndSize / 2) * zoomWndFactor * zoomAddOn;
ZoomWindow.SetWindowExtents((int)posY - (zoomWndSize / 2),
(int)posX - (zoomWndSize / 2),
zoomWndSize, zoomWndSize);
ZoomWindow.SetPart((int)(e.Y - zoomZone), (int)(e.X - zoomZone),
(int)(e.Y + zoomZone), (int)(e.X + zoomZone));
repaint(ZoomWindow);
HSystem.SetSystem("flush_graphic", "true");
ZoomWindow.DispLine(-100.0, -100.0, -100.0, -100.0);
}
}
private void ViewPort_HMouseMove(object sender, HMouseEventArgsWPF e)
{
if (stateView == MODE_ROI_Create)
{
return;
}
double motionX, motionY;
double posX, posY;
double zoomZone;
int a = roiManager.mouseMoveROI(e.Column, e.Row);//鼠标经过的index
if (!mousePressed)
{
return;
}
if (roiManager != null && (roiManager.activeROIidx != -1) && (dispROI == MODE_INCLUDE_ROI))
{
roiManager.mouseMoveAction(e.Column, e.Row);
}
else if (stateView == MODE_VIEW_MOVE)
{
motionX = ((e.Column - startX));
motionY = ((e.Row - startY));
if (((int)motionX != 0) || ((int)motionY != 0))
{
moveImage(motionX, motionY);
startX = e.Column - motionX;
startY = e.Row - motionY;
}
}
else if (stateView == MODE_VIEW_ZOOMWINDOW)
{
HSystem.SetSystem("flush_graphic", "false");
ZoomWindow.ClearWindow();
posX = ((e.Column - ImgCol1) / (ImgCol2 - ImgCol1)) * viewPort.ActualWidth;
posY = ((e.Row - ImgRow1) / (ImgRow2 - ImgRow1)) * viewPort.ActualHeight;
zoomZone = (zoomWndSize / 2) * zoomWndFactor * zoomAddOn;
ZoomWindow.SetWindowExtents((int)posY - (zoomWndSize / 2),
(int)posX - (zoomWndSize / 2),
zoomWndSize, zoomWndSize);
ZoomWindow.SetPart((int)(e.Row - zoomZone), (int)(e.Column - zoomZone),
(int)(e.Row + zoomZone), (int)(e.Column + zoomZone));
repaint(ZoomWindow);
HSystem.SetSystem("flush_graphic", "true");
ZoomWindow.DispLine(-100.0, -100.0, -100.0, -100.0);
}
}
public bool LoadImage(string imagePath)
{
windowHandle.ClearWindow();
HObject ho_ImageRGB;
HOperatorSet.ReadImage(out ho_ImageRGB, imagePath);
HOperatorSet.GetImageSize(ho_ImageRGB, out hv_width, out hv_height);
windowHandle.SetPart(0, 0, hv_height - 1, hv_width - 1);
HTuple channelCount;
HOperatorSet.CountChannels(ho_ImageRGB, out channelCount);
ho_Image.Dispose();
if (channelCount >= 3)
{
HOperatorSet.AccessChannel(ho_ImageRGB, out ho_Image, 2);
}
else
{
HOperatorSet.AccessChannel(ho_ImageRGB, out ho_Image, 1);
}
windowHandle.DispObj(ho_Image);
return(true);
}
public void SobelFilter(HDrawingObject dobj, HWindow hwin, string type)
{
try
{
HImage image = halcon_dialog.BackgroundImage;
HRegion region = new HRegion(dobj.GetDrawingObjectIconic());
hwin.SetWindowParam("flush", "false");
hwin.ClearWindow();
hwin.DispObj(image.ReduceDomain(region).SobelAmp("sum_abs", 11));
hwin.SetWindowParam("flush", "true");
hwin.FlushBuffer();
}
catch (HalconException hex)
{
MessageBox.Show(hex.GetErrorMessage(), "HALCON error", MessageBoxButtons.OK);
}
}
void ShowObject(HWindow window)
{
if (window.IsInitialized() == false)
{
return;
}
//关闭显示刷新
HSystem.SetSystem("flush_graphic", "false");
//窗体图像清空
window.ClearWindow();
mGC.stateOfSettings.Clear();
try
{
//HTuple showStart;
//HOperatorSet.CountSeconds(out showStart);
int count1 = 0;
foreach (var item in HObjList)
{
if (ResultShow == ResultShow.原图 && count1 > 0)
{
break;
}
if (item.HObj != null && item.HObj.IsInitialized())
{
mGC.ApplyContext(window, item.gContext);
window.DispObj(item.HObj);
}
else if (item.Message != null && isShowMessage)
{
//item.Message.DispMessage(window, "image", ((double)imageWidth / (double)(viewPort.Width)) / ZoomWndFactor);
double sizeTmp = item.Message.CahangeDisplayFontSize(window, (1.0) / ZoomWndFactor, currentTextSize);
currentTextSize = sizeTmp;
item.Message.DispMessage(window, "image");
}
count1++;
}
//HTuple showEnd;
//HOperatorSet.CountSeconds(out showEnd);
//double timeShow = (showEnd - showStart) * 1000.0;
//Util.Notify(string.Format("内部显示图像用时{0:f2}ms", timeShow));
}
catch (Exception)
{; }
}
/// <summary>
/// 重置放大鏡視窗
/// </summary>
/// <param name="e"></param>
private void resetZoomWindow(HalconDotNet.HMouseEventArgs e)
{
HSystem.SetSystem("flush_graphic", "false");
ZoomWindow.ClearWindow();
double posX = ((e.X - ImgCol1) / (ImgCol2 - ImgCol1)) * _viewPort.Width;
double posY = ((e.Y - ImgRow1) / (ImgRow2 - ImgRow1)) * _viewPort.Height;
double zoomZone = (zoomWndSize / 2) * zoomWndFactor * zoomAddOn;
ZoomWindow.SetWindowExtents((int)posY - (zoomWndSize / 2),
(int)posX - (zoomWndSize / 2),
zoomWndSize, zoomWndSize);
ZoomWindow.SetPart((int)(e.Y - zoomZone), (int)(e.X - zoomZone),
(int)(e.Y + zoomZone), (int)(e.X + zoomZone));
repaint(ZoomWindow);
HSystem.SetSystem("flush_graphic", "true");
ZoomWindow.DispLine(-100.0, -100.0, -100.0, -100.0);
}
void ShowObject(HWindow window)
{
if (window.IsInitialized() == false)
{
return;
}
//关闭显示刷新
//HSystem.SetSystem("flush_graphic", "false");
//窗体图像清空
window.ClearWindow();
mGC.stateOfSettings.Clear();
try
{
int count1 = 0;
foreach (var item in HObjList)
{
if (ResultShow == ResultShow.原图 && count1 > 0)
{
break;
}
if (item.HObj != null && item.HObj.IsInitialized())
{
mGC.ApplyContext(window, item.gContext);
window.DispObj(item.HObj);
}
else if (item.Message != null && isShowMessage)
{
//item.Message.DispMessage(window, "image", ((double)imageWidth / (double)(viewPort.Width)) / ZoomWndFactor);
double sizeTmp = item.Message.CahangeDisplayFontSize(window, (1.0) / ZoomWndFactor, currentTextSize);
currentTextSize = sizeTmp;
item.Message.DispMessage(window, "image");
}
count1++;
}
}
catch (Exception)
{; }
}
public void Draw(HWindow window, HObject img, bool isShow)
{
window.ClearWindow();
HOperatorSet.DispObj(img, window);
if (isShow)
{
window.SetLineWidth(2);
window.SetDraw("margin");
window.SetColor("green");
window.DispRectangle1(Row1, Col1, Row2, Col2);
window.SetColor("red");
window.SetLineWidth(1);
window.DispRectangle1(RowMark - 5, ColMark - 5, RowMark + 5, ColMark + 5);
window.DispCross(RowMark, ColMark, 35, 0);
window.SetDraw("fill");
window.SetColor("blue");
window.DispRectangle1(Row1 - 6, Col1 - 6, Row1 + 6, Col1 + 6);
window.DispRectangle1(Row1 - 6, Col2 - 6, Row1 + 6, Col2 + 6);
window.DispRectangle1(Row2 - 6, Col1 - 6, Row2 + 6, Col1 + 6);
window.DispRectangle1(Row2 - 6, Col2 - 6, Row2 + 6, Col2 + 6);
//HOperatorSet.OpenFramegrabber()
}
}
public void hWindow_rawImage_HMouseWheel(object sender, HMouseEventArgs ev)
{
int row, col, button;
double rowShif, colShif;
int row1, column1, row2, column2;
int height, width;
int r1, c1, r2, c2;
if (_flag_act == true)
{
if (ev.Delta > 0)
{
try
{
_hWindowShow.GetMposition(out row, out col, out button);
Console.WriteLine(ev.Delta);
if (_zoom >= 32.0)
{
_zoom = 32.0;
}
else
{
_zoom *= 2;
}
_zoomTrans = _zoom / _zoomOrg;
_zoomOrg = _zoom;
rowShif = 0;
colShif = 0;
_hWindowShow.GetPart(out row1, out column1, out row2, out column2);
height = row2 - row1;
width = column2 - column1;
r1 = Convert.ToInt32((row1 + ((1 - (1.0 / _zoomTrans)) * (row - row1)) - (rowShif / _zoomTrans)));
c1 = Convert.ToInt32((column1 + ((1 - (1.0 / _zoomTrans)) * (col - column1)) - (colShif / _zoomTrans)));
r2 = r1 + Convert.ToInt32(height / _zoomTrans);
c2 = c1 + Convert.ToInt32(width / _zoomTrans);
_hWindowShow.SetPart(r1, c1, r2, c2);
_hWindowShow.ClearWindow();
_hWindowShow.DispObj(_imageShow1);
_hWindowShow.DispObj(_imageShow2);
}
catch (Exception)
{
//throw;
}
}
else if (ev.Delta < 0)
{
//Convert.ToInt32(ev.X);
//Convert.ToInt32(ev.Y);
try
{
_hWindowShow.GetMposition(out row, out col, out button);
Console.WriteLine(ev.Delta);
if (_zoom <= 1 / 16.0)
{
_zoom = 1 / 16.0;
}
else
{
_zoom /= 2.0;
}
_zoomTrans = _zoom / _zoomOrg;
_zoomOrg = _zoom;
rowShif = 0;
colShif = 0;
_hWindowShow.GetPart(out row1, out column1, out row2, out column2);
height = row2 - row1;
width = column2 - column1;
r1 = Convert.ToInt32((row1 + ((1 - (1.0 / _zoomTrans)) * (row - row1)) - (rowShif / _zoomTrans)));
c1 = Convert.ToInt32((column1 + ((1 - (1.0 / _zoomTrans)) * (col - column1)) - (colShif / _zoomTrans)));
r2 = r1 + Convert.ToInt32(height / _zoomTrans);
c2 = c1 + Convert.ToInt32(width / _zoomTrans);
_hWindowShow.SetPart(r1, c1, r2, c2);
_hWindowShow.ClearWindow();
_hWindowShow.DispObj(_imageShow1);
_hWindowShow.DispObj(_imageShow2);
}
catch (Exception)
{
//throw;
}
}
Console.WriteLine(ev.X);
Console.WriteLine(ev.Y);
Console.WriteLine(_zoom);
}
}
/*******************************************************************/
private void mouseMoved(object sender, HalconDotNet.HMouseEventArgs e)
{
double motionX, motionY;
double posX, posY;
double zoomZone;
//if (viewPort.)
int count = HObjList.Count;
foreach (var item in HObjList) //实时显示图片的灰度 灰度显示
{
HObjectEntry objNow = (HObjectEntry)item;
if (objNow.HObj is HImage)
{
try{
HObject myImg = new HObject();
if (!objNow.HObj.IsInitialized())
{
break;
}
//HOperatorSet.CopyObj(objNow.HObj, out myImg, 1, -1);
HTuple Gray = new HTuple();
HTuple Wid, Hei;
HOperatorSet.GetImageSize(objNow.HObj, out Wid, out Hei);
if (0 < e.Y && e.Y < Hei && 0 < e.X && e.X < Wid)
{
repaint(viewPort.HalconWindow);
HOperatorSet.GetGrayval(objNow.HObj, e.Y, e.X, out Gray);
double scale = (ImgRow2 - ImgRow1) / Hei.D;
//HOperatorSet.SetTposition(viewPort.HalconWindow, ImgRow2 - 400 * scale, ImgCol2 - 400 * scale);
HOperatorSet.SetTposition(viewPort.HalconWindow, e.Y + 20 * scale, e.X + 50 * scale);
HOperatorSet.SetColor(viewPort.HalconWindow, "red");
HOperatorSet.WriteString(viewPort.HalconWindow, "R:" + ((int)e.Y).ToString() + " " + "C:" +
((int)e.X).ToString() + " " + ((int)Gray[0].D).ToString());
}
//myImg.Dispose();
break;
}
catch {
break;
}
}
}
if (!mousePressed)
{
return;
}
if (roiManager != null && (roiManager.activeROIidx != -1) && (dispROI == MODE_INCLUDE_ROI))
{
roiManager.mouseMoveAction(e.X, e.Y);
}
else if (stateView == MODE_VIEW_MOVE) //平移视图
{
motionX = ((e.X - startX));
motionY = ((e.Y - startY));
if (((int)motionX != 0) || ((int)motionY != 0))
{
moveImage(motionX, motionY);
startX = e.X - motionX;
startY = e.Y - motionY;
}
}
else if (stateView == MODE_VIEW_ZOOMWINDOW) //缩放视图
{
HSystem.SetSystem("flush_graphic", "false");
ZoomWindow.ClearWindow();
posX = ((e.X - ImgCol1) / (ImgCol2 - ImgCol1)) * viewPort.Width;
posY = ((e.Y - ImgRow1) / (ImgRow2 - ImgRow1)) * viewPort.Height;
zoomZone = (zoomWndSize / 2) * zoomWndFactor * zoomAddOn;
ZoomWindow.SetWindowExtents((int)posY - (zoomWndSize / 2),
(int)posX - (zoomWndSize / 2),
zoomWndSize, zoomWndSize);
ZoomWindow.SetPart((int)(e.Y - zoomZone), (int)(e.X - zoomZone),
(int)(e.Y + zoomZone), (int)(e.X + zoomZone));
repaint(ZoomWindow);
HSystem.SetSystem("flush_graphic", "true");
ZoomWindow.DispLine(-100.0, -100.0, -100.0, -100.0);
}
}
private void hWindowControl1_HMouseMove(object sender, HMouseEventArgs e)
{
if (Ho_Image.IsInitialized())
{
try
{
int button_state;
double positionX, positionY;
string str_value;
string str_position;
bool _isXOut = true, _isYOut = true;
HTuple channel_count; //元素
HOperatorSet.CountChannels(Ho_Image, out channel_count); //计算图片的通道
_halconWindow1.GetMpositionSubPix(out positionY, out positionX, out button_state); //得到亚像素组成 取得坐标，及鼠标的状态
str_position = String.Format("X: {0:0000.0}, Y: {1:0000.0}", positionX, positionY); //把坐标转成字符格式
HTuple width, height;
HOperatorSet.GetImageSize(Ho_Image, out width, out height);
_isXOut = (positionX < 0 || positionX >= (double)width); //判断是否超出范围，超出为1
_isYOut = (positionY < 0 || positionY >= (double)height); //判断是否超出范围，超出为1
if (!_isXOut && !_isYOut)
{
if ((int)channel_count == 1)
{
HTuple grayval;
HOperatorSet.GetGrayval(Ho_Image, (HTuple)positionY, (HTuple)positionX, out grayval);
str_value = String.Format("灰度值: {0:000.0}", (double)grayval);//显示出去
}
else
{
if ((int)channel_count == 3)
{
str_value = "";
HTuple grayValRed, grayValGreen, grayValBlue;
HObject _RedChannel, _GreenChannel, _BlueChannel;
HOperatorSet.GenEmptyObj(out _RedChannel);
HOperatorSet.GenEmptyObj(out _GreenChannel);
HOperatorSet.GenEmptyObj(out _BlueChannel);
HOperatorSet.AccessChannel(Ho_Image, out _RedChannel, 1);
HOperatorSet.AccessChannel(Ho_Image, out _GreenChannel, 2);
HOperatorSet.AccessChannel(Ho_Image, out _BlueChannel, 3);
HOperatorSet.GetGrayval(_RedChannel, (HTuple)positionY, (HTuple)positionX, out grayValRed);
HOperatorSet.GetGrayval(_GreenChannel, (HTuple)positionY, (HTuple)positionX, out grayValGreen);
HOperatorSet.GetGrayval(_BlueChannel, (HTuple)positionY, (HTuple)positionX, out grayValBlue);
_RedChannel.Dispose();
_GreenChannel.Dispose();
_BlueChannel.Dispose();
str_value = String.Format("Val: ({0:000.0}, {1:000.0}, {2:000.0})", (double)grayValRed, (double)grayValGreen, (double)grayValBlue);//显示3个通道的灰度值
}
else
{
str_value = "";
}
}
StatusMessage.Text = str_position + " " + str_value;
}
switch (button_state)
{
case 0:
this.Cursor = System.Windows.Forms.Cursors.Default; //显示鼠标类型为手型
break;
case 1:
this.Cursor = System.Windows.Forms.Cursors.Hand; //显示鼠标类型为手型
_halconWindow1.ClearWindow(); //清空窗体类容
_halconWindow1.SetPaint(new HTuple("default")); //设置显示默认
// 保持图像显示比例
zoom_beginRow -= (int)(positionY - _start_positionY);
zoom_beginCol -= (int)(positionX - _start_positionX);
zoom_endRow -= (int)(positionY - _start_positionY);
zoom_endCol -= (int)(positionX - _start_positionX);
_halconWindow1.SetPart(zoom_beginRow, zoom_beginCol, zoom_endRow, zoom_endCol);
_halconWindow1.DispObj(Ho_Image); //显示图片
break;
}
}
catch (Exception ex)
{
StatusMessage.Text = ex.Message;
}
}
}
async void runcode()
{
if (Framgraber == null)
{
MessageBox.Show(" CAMERA DISCONNECTION !!");
return;
}
if (socketPLC == null)
{
MessageBox.Show(" PLC DISCONNECTION !!");
return;
}
double Z = 100;
int _break = 0;
while (true)
{
try
{
int countPointHE = 0;
DataBit = clsPlc.GetBitFromPLC(3000, 1, socketPLC); // Snap
DataBitTrigerHE = clsPlc.GetBitFromPLC(4000, 1, socketPLC); // HEB
DataBitTrigerCaLib = clsPlc.GetBitFromPLC(5000, 1, socketPLC);
Task task1;
task1 = Task.Factory.StartNew(() =>
{
try
{
//HOperatorSet.GrabImage(out HObject image1, _frameGrabber);
}
catch (Exception ex)
{
}
});
//CALIB
// if (DataBitTrigerCaLib == 1)
if (DataBitTrigerCaLib == 1)
{
this.Invoke((MethodInvoker) delegate
{
btnCalibBit.BackColor = Color.Green;
});
// Khoi tao Model Calibration cua Halcon
HTuple CalibDataID = clsCalib.InitCalib("area_scan_division", "calibration_object", 0.008, 0, 1.85 / 1000000, 1.85 / 1000000, 4024 / 2, 3036 / 2, 4024, 3036, Application.StartupPath + "/calib/" + "caltab_30mm.descr");
int countpointCalib = 0;
while (true)
{
DataBit = clsPlc.GetBitFromPLC(3000, 1, socketPLC);
if (DataBit == 1)
{
snap();
HOperatorSet.WriteImage(Img, "bmp", 0, Application.StartupPath + "/hand_eye/" + "image_calib_" + countpointCalib);
clsPlc.SendDataFromPLC("Word", 2, 4005, socketPLC);
Thread.Sleep(100);
clsPlc.SendDataFromPLC("Word", 2, 4002, socketPLC); // Send Data OK
countpointCalib += 1;
}
if (countpointCalib == 11)
{
HTuple Error = clsCalib.Finally();
this.Invoke((MethodInvoker) delegate
{
string Errorshow = Error.ToString();
txtErrorCalib.Text = Errorshow;
}
);
clsPlc.SetBitFromPLC(4003, 2, 1, socketPLC);
// Send Finish
MessageBox.Show(" Calib Complete <3");
break;
}
Thread.Sleep(100);
}
}
else
{
this.Invoke((MethodInvoker) delegate
{
btnCalibBit.BackColor = Color.Red;
});
}
//HE
if (DataBitTrigerHE == 1) /////////-----HEB------
{
HTuple lst_row_vs = new HTuple();
HTuple lst_col_vs = new HTuple();
HTuple lst_agl_vs = new HTuple();
HTuple lst_x_rb = new HTuple();
HTuple lst_y_rb = new HTuple();
HTuple lst_a_rb = new HTuple();
int countpointHE = 0;
while (true)
{
_break = 0;
try
{
/// Recieve signal riger Camera
DataBit = clsPlc.GetBitFromPLC(3000, 1, socketPLC);
if (DataBit == 1)
{
this.Invoke((MethodInvoker) delegate
{
btnHandeyeBit.BackColor = Color.Green;
});
window.ClearWindow();
// Call result Shape Model
result rsl = new result();
snap();
HObject newimg = new HObject(Img);
rsl = clsCalib.findshapemodle(newimg, ModelID, window);
////**** Use Origin
HTuple row_input = rsl.RowProj;
HTuple col_input = rsl.ColProj;
HTuple agl_input = rsl.Angle_;
if (_useOrigin == 1)
{
HTuple x0 = 0.0, y0 = 0.0, agl0 = 0.0;
HTuple hommat2D_findregion = new HTuple();
HOperatorSet.VectorAngleToRigid(x0, y0, agl0, rsl.lst_cordinate_shapemodel[0], rsl.lst_cordinate_shapemodel[1], rsl.lst_cordinate_shapemodel[2], out hommat2D_findregion);
clsCalib.create_origin(newimg, rg_binary, rg_first, rg_second, hommat2D_findregion);
row_input = rsl.RowProj;
col_input = rsl.ColProj;
agl_input = rsl.Angle_;
}
else
{
row_input = rsl.lst_cordinate_shapemodel[0];
col_input = rsl.lst_cordinate_shapemodel[1];
agl_input = rsl.lst_cordinate_shapemodel[2];
}
//Add list vision coordinate
HOperatorSet.TupleConcat(lst_row_vs, row_input, out lst_row_vs);
HOperatorSet.TupleConcat(lst_col_vs, col_input, out lst_col_vs);
HOperatorSet.TupleConcat(lst_agl_vs, agl_input, out lst_agl_vs);
// set window
window.SetColor("green");
window.SetDraw("margin");
window.SetLineWidth(3);
rsl.shapemodel_affined.DispObj(window);
window.SetColor("yellow");
//window.DispObj(cross);
//HOperatorSet.WriteImage(Img, "bmp", 0, Application.StartupPath + "/hand_eye/" + "image_calib_" + countpointHE);
clsPlc.SendDataFromPLC("Word", 2, 4005, socketPLC);
// Get coordinate of Robot
HTuple _x = clsPlc.RecDataFromPLC("DWord", 3100, 2, socketPLC);
HTuple _y = clsPlc.RecDataFromPLC("DWord", 3102, 2, socketPLC);
HTuple _angle = clsPlc.RecDataFromPLC("DWord", 3104, 2, socketPLC);
HTuple division = 1000.0;
HTuple _xx = _x / division;
HTuple _xy = _y / division / 10;
HTuple _thee = _angle / 10000.0;
// Add list coordinate robot
HOperatorSet.TupleConcat(lst_x_rb, _xx, out lst_x_rb);
HOperatorSet.TupleConcat(lst_y_rb, _xy, out lst_y_rb);
HOperatorSet.TupleConcat(lst_a_rb, _thee, out lst_a_rb);
countpointHE += 1;
HOperatorSet.WriteImage(Img, "bmp", 0, Application.StartupPath + "/hand_eye/" + "image_calib_" + countpointHE);
this.Invoke((MethodInvoker) delegate
{
//timer1.Enabled = true;
//MessageBox.Show($"Next count {countpointHE}...");
//timer1.Enabled = false;
lbCountNumber.Text = countpointHE.ToString();
txtXRobot.Text = _x.ToString();
txtYRobot.Text = _y.ToString();
txtThetaRobot.Text = _angle.ToString();
btnTrigerBit.BackColor = Color.Green;
});
Thread.Sleep(100);
clsPlc.SendDataFromPLC("Word", 2, 4002, socketPLC);
}
if (DataBit == 0)
{
this.Invoke((MethodInvoker) delegate
{
btnTrigerBit.BackColor = Color.Red;
});
}
if (countpointHE == 11)
{
string pathsave = Application.StartupPath + "/Handeye_Hommat";
result rsl = new result();
rsl = clsCalib.handeye11point(lst_row_vs, lst_col_vs, lst_agl_vs, lst_x_rb, lst_y_rb);
// Write list data point
HOperatorSet.WriteTuple(lst_row_vs, pathsave + "/lst_row_vs.tup");
HOperatorSet.WriteTuple(lst_col_vs, pathsave + "/lst_col_vs.tup");
HOperatorSet.WriteTuple(lst_agl_vs, pathsave + "/lst_agl_vs.tup");
HOperatorSet.WriteTuple(lst_x_rb, pathsave + "/lst_x_rb.tup");
HOperatorSet.WriteTuple(lst_y_rb, pathsave + "/lst_y_rb.tup");
// Save Data Handeye
HOperatorSet.WriteTuple(rsl.HomMat_ImgtoWorld, pathsave + "/HomMat_ImgtoWorld.tup");
HOperatorSet.WriteTuple(rsl.HomMat_WorldtoImg, pathsave + "/HomMat_WorldtoImg.tup");
HOperatorSet.WriteTuple(rsl.TCP_to_Tool, pathsave + "/TCP_to_Tool.tup");
HOperatorSet.WriteTuple(rsl.Tool_to_TCP, pathsave + "/Tool_to_TCP.tup");
clsPlc.SendDataFromPLC("Word", 4, 4003, socketPLC); // Send complete handeye to PLC.
Thread.Sleep(100);
MessageBox.Show($"Complete!!");
countpointHE = 0;
this.Invoke((MethodInvoker) delegate
{
btnTrigerBit.BackColor = Color.Red;
});
break;
}
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
_break = 1;
break;
}
Thread.Sleep(100);
}
}
else
{
this.Invoke((MethodInvoker) delegate
{
btnHandeyeBit.BackColor = Color.Red;
});
}
await Task.WhenAll(task1);
}
catch (Exception ex)
{
}
if (_break == 1)
{
break;
}
}
}
