private int CreateModel()
{
if (this.CamCtrl.Cam == null)
{
return(-1);
}
byte[] bytes = this.CamCtrl.Cam.Executor.CurrentBytes;
if (bytes == null)
{
return(-1);
}
byte[] roiImageData = new byte[this.prm.ModelWidth * this.prm.ModelHeight];
int rtn = ModelFindThm.GetRoiImageData(bytes, this.CamCtrl.ImgWidth, this.CamCtrl.ImgHeight,
this.prm.ModelTopLeftX, this.prm.ModelTopLeftY, this.prm.ModelWidth, this.prm.ModelHeight, roiImageData);
if (rtn != 0)
{
return(rtn);
}
int modelId = 0;
rtn = ModelFindThm.CreateModel(roiImageData, this.prm.ModelWidth, this.prm.ModelHeight,
this.prm.SearchTopLeftX, this.prm.SearchTopLeftY, this.prm.SearchWidth, this.prm.SearchHeight, ref modelId);
this.prm.ModelId = modelId;
return(rtn);
}
private byte[] CaptureSearchImage(byte[] imgBytes, int imgWidth, int imgHeight)
{
byte[] searchImageData = new byte[modelFindPrm.SearchWidth * modelFindPrm.SearchHeight];
ModelFindThm.GetRoiImageData(imgBytes, imgWidth, imgHeight, modelFindPrm.SearchTopLeftX,
modelFindPrm.SearchTopLeftY, modelFindPrm.SearchWidth, modelFindPrm.SearchHeight, searchImageData);
return(searchImageData);
}
public byte[] GetROI(byte[] img, int imgWidth, int imgHeight)
{
byte[] roiImageData = new byte[ModelWidth * ModelHeight];
int rtn = ModelFindThm.GetRoiImageData(img, imgWidth, imgHeight, ModelTopLeftX,
ModelTopLeftY, ModelWidth, ModelHeight, roiImageData);
return(roiImageData);
}
private int CreateGrayModel()
{
if (this.camera == null)
{
return(-1);
}
byte[] bytes = this.camera.Executor.CurrentBytes;
if (bytes == null)
{
return(-1);
}
byte[] roiImageData = new byte[grayCheckPrm.ModelWidth * grayCheckPrm.ModelHeight];
int rtn = ModelFindThm.GetRoiImageData(bytes, CamCtrl.ImgWidth, CamCtrl.ImgHeight,
grayCheckPrm.ModelTopLeftX, grayCheckPrm.ModelTopLeftY, grayCheckPrm.ModelWidth, grayCheckPrm.ModelHeight, roiImageData);
if (rtn != 0)
{
return(rtn);
}
grayCheckPrm.ModelData = roiImageData;
return(rtn);
}
public void DoNext()
{
if (this.CamCtrl.Cam == null)
{
return;
}
switch (this.flag)
{
case 1:
//create model
this.CreateModel();
break;
case 2:
double inc = (double)this.nudInc.Value;
string msg = string.Format("Inc oldValue: {0} -> newValue: {1}", this.incBackUp, this.nudInc.Value);
Logger.DEFAULT.Info(LogCategory.SETTING, this.GetType().Name, msg);
PointD pos = new PointD(Machine.Instance.Robot.PosX, Machine.Instance.Robot.PosY);
this.points[0] = new PointD(0, 0);
this.points[1] = new PointD(0, inc);
this.points[2] = new PointD(inc, inc);
this.points[3] = new PointD(inc, 0);
this.points[4] = new PointD(inc, -inc);
this.points[5] = new PointD(0, -inc);
this.points[6] = new PointD(-inc, -inc);
this.points[7] = new PointD(-inc, 0);
this.points[8] = new PointD(-inc, inc);
this.calibBy9dPrm.PhyPtSet.Clear();
this.calibBy9dPrm.ImgPtSet.Clear();
foreach (var item in this.points)
{
this.calibBy9dPrm.PhyPtSet.Add(item.X);
this.calibBy9dPrm.PhyPtSet.Add(item.Y);
}
int rtn = 0;
//find model 9 times
Task.Factory.StartNew(() =>
{
for (int i = 0; i < 9; i++)
{
//to do move
if (Machine.Instance.Robot.ManualMovePosXYAndReply(pos.X + this.points[i].X, pos.Y + this.points[i].Y) == Result.FAILED)
{
this.err = true;
break;
}
Thread.Sleep(500);
byte[] bytes = this.CamCtrl.Cam.Executor.CurrentBytes;
if (bytes == null)
{
this.err = true;
break;
}
rtn = ModelFindThm.Match(bytes, this.CamCtrl.ImgWidth, this.CamCtrl.ImgHeight, this.prm.ModelId,
ref this.matchScore, ref this.matchX, ref this.matchY);
if (rtn != 0)
{
this.err = true;
break;
}
this.calibBy9dPrm.ImgPtSet.Add(this.matchX);
this.calibBy9dPrm.ImgPtSet.Add(this.matchY);
this.BeginUpdateMatchResult(i + 1, this.matchScore, this.matchX, this.matchY);
Thread.Sleep(500);
}
//Machine.Instance.Robot.MovePosXYAndReply(pos.X, pos.Y);
Machine.Instance.Robot.ManualMovePosXYAndReply(pos.X, pos.Y);
this.calibBy9dPrm.Num = 9;
rtn = this.calibBy9dPrm.Update();
if (rtn != 0)
{
this.err = true;
}
this.flag++;
this.BeginInvoke(new Action(() =>
{
this.UpdateByFlag();
}));
});
break;
}
this.flag++;
this.UpdateByFlag();
}
private void MatchTest()
{
double matchScore = 0, matchPointX = 0, matchPointY = 0;
DateTime beforeDT = System.DateTime.Now;
this.modelFindPrm.PosInMachine = new PointD(Machine.Instance.Robot.PosXY);
this.modelFindPrm.TargetInMachine = new PointD(this.modelFindPrm.PosInMachine);
this.tbTaughtLoc.Text = this.modelFindPrm.PosInMachine.ToString();
//0:found, -1:unfound, 1:found but out of tolerance
int foundState = -1;
this.tbConfidence.Text = string.Empty;
this.tbTime.Text = string.Empty;
if (ModelFindThm.Match(this.camera.Executor.CurrentBytes, this.CamCtrl.ImgWidth, this.CamCtrl.ImgHeight, this.modelFindPrm.ModelId,
ref matchScore, ref matchPointX, ref matchPointY) == 0)
{
DateTime afterDT = System.DateTime.Now;
TimeSpan ts = afterDT.Subtract(beforeDT);
this.tbConfidence.Text = matchScore.ToString("f3");
this.tbTime.Text = string.Format("{0}ms", ts.TotalMilliseconds);
if (matchScore > (double)this.nudAcceptThreshold.Value)
{
this.modelFindPrm.MarkInImg = new PointD(matchPointX, matchPointY);
this.modelFindPrm.TargetInMachine += Machine.Instance.Camera.ToMachine(this.modelFindPrm.MarkInImg);
if (this.modelFindPrm.IsOutOfTolerance())
{
foundState = 1;
}
else
{
foundState = 0;
}
}
else
{
foundState = -1;
}
}
else
{
foundState = -1;
}
if (foundState < 0)
{
this.tbStatus.Text = "UnFound";
this.tbStatus.BackColor = Color.Red;
this.tbFoundLoc.Text = string.Empty;
this.tbDiff.Text = string.Empty;
}
else
{
if (foundState == 0)
{
this.tbStatus.BackColor = Color.Green;
}
else if (foundState == 1)
{
this.tbStatus.BackColor = Color.Yellow;
}
this.tbStatus.Text = "Found";
this.tbFoundLoc.Text = this.modelFindPrm.TargetInMachine.ToString();
this.tbDiff.Text = (this.modelFindPrm.TargetInMachine - this.modelFindPrm.PosInMachine).ToString();
}
}
