public Line TryFindLine(string name, HImage image, FindLineFeeding feeding, bool recordGraphics = true)
{
Line line = new Line();
try
{
line = FindLine(image, feeding, recordGraphics);
}
catch (Exception e)
{
Debugger.Break();
PromptUserInvoke($"Line {name} not found! {Environment.NewLine} {e.Message}");
}
return(line);
}
/// <summary>
/// If key not exist, add one find line feeding
/// </summary>
/// <param name="name"></param>
/// <param name="findLineFeedings"></param>
private void TryAddFindLineFeedings(string name, Dictionary <string, FindLineFeeding> findLineFeedings)
{
FindLineFeeding output;
string key;
// No "-" means one find line rect for one line result
if (!name.Contains("-"))
{
key = name;
var param = FindLineParamsDict[name];
var location = _findLineLocationsAbsDict[name];
output = new FindLineFeeding()
{
Row = location.Y,
Col = location.X,
Radian = MathUtils.ToRadian(location.Angle),
Len1 = location.Len1,
Len2 = location.Len2,
Transition = location.Polarity == FindLinePolarity.Positive ? "positive" : "negative",
NumSubRects = param.NumSubRects,
IgnoreFraction = param.IgnoreFraction,
Threshold = param.Threshold,
Sigma1 = param.Sigma1,
Sigma2 = param.Sigma2,
WhichEdge = param.WhichEdge == EdgeSelection.First ? "first" : "last",
WhichPair = param.WhichPair == PairSelection.First ? "first" : "last",
NewWidth = param.NewWidth,
MinWidth = param.MinWidth,
MaxWidth = param.MaxWidth,
FirstAttemptOnly = param.FirstAttemptOnly(),
UsingPair = param.UsingPair(),
ImageIndex = location.ImageIndex,
IsVertical = location.IsVertical,
CannyHigh = param.CannyHigh,
CannyLow = param.CannyLow,
MaxTrials = param.MaxTrials,
ErrorThreshold = param.ErrorThreshold,
Probability = param.Probability,
KernelWidth = param.KernelWidth,
LongestOnly = param.LongestOnly ? "true" : "false"
};
}
else
{
key = name.Substring(0, name.IndexOf("-"));
// If the key has already added... for example 2 for 2-left and 2-right
if (findLineFeedings.ContainsKey(key))
{
return;
}
var locations = _findLineLocationsAbsDict.Where(pair => pair.Key.Contains(key)).Select(pair => pair.Value).ToList();
var parameters = FindLineParamsDict.Where(pair => pair.Key.Contains(key)).Select(pair => pair.Value).ToList();
if (locations.Count != parameters.Count)
{
throw new InvalidOperationException($"Location count {locations.Count} != parameter count {parameters.Count}");
}
output = new FindLineFeeding()
{
Row = locations.Select(l => l.Y).ToArray(),
Col = locations.Select(l => l.X).ToArray(),
Radian = locations.Select(l => MathUtils.ToRadian(l.Angle)).ToArray(),
Len1 = locations.Select(l => l.Len1).ToArray(),
Len2 = locations.Select(l => l.Len2).ToArray(),
Transition = locations[0].Polarity == FindLinePolarity.Positive ? "positive" : "negative",
NumSubRects = parameters[0].NumSubRects,
IgnoreFraction = parameters[0].IgnoreFraction,
Threshold = parameters.Select(p => p.Threshold).ToArray(),
Sigma1 = parameters[0].Sigma1,
Sigma2 = parameters[0].Sigma2,
WhichEdge = parameters[0].WhichEdge == EdgeSelection.First ? "first" : "last",
WhichPair = parameters[0].WhichPair == PairSelection.First ? "first" : "last",
NewWidth = parameters[0].NewWidth,
MinWidth = parameters[0].MinWidth,
MaxWidth = parameters[0].MaxWidth,
FirstAttemptOnly = parameters[0].FirstAttemptOnly(),
UsingPair = parameters[0].UsingPair(),
ImageIndex = locations[0].ImageIndex,
IsVertical = locations[0].IsVertical,
CannyHigh = parameters[0].CannyHigh,
CannyLow = parameters[0].CannyLow,
MaxTrials = parameters[0].MaxTrials,
ErrorThreshold = parameters[0].ErrorThreshold,
Probability = parameters[0].Probability,
KernelWidth = parameters[0].KernelWidth,
LongestOnly = parameters[0].LongestOnly ? "true" : "false"
};
}
findLineFeedings[key] = output;
}
public Line FindLine(HImage image, FindLineFeeding feeding, bool recordGraphics = true)
{
HObject lineRegion, findLineRegion;
HTuple xsUsed = new HTuple();
HTuple ysUsed = new HTuple();
HTuple xsIgnored = new HTuple();
HTuple ysIgnored = new HTuple();
HTuple lineX1 = new HTuple();
HTuple lineY1 = new HTuple();
HTuple lineX2 = new HTuple();
HTuple lineY2 = new HTuple();
List <double> ys, xs;
// using pair
HObject edges = new HObject();
edges.GenEmptyObj();
if (feeding.UsingPair)
{
if (feeding.FirstAttemptOnly)
{
HalconScripts.FindLineGradiant_Pair(image, out findLineRegion, out lineRegion, feeding.Row,
feeding.Col, feeding.Radian, feeding.Len1, feeding.Len2, feeding.NumSubRects,
feeding.IgnoreFraction, feeding.Transition, feeding.Threshold, feeding.Sigma1,
feeding.WhichEdge, feeding.WhichPair, feeding.MinWidth, feeding.MaxWidth, out xsUsed,
out ysUsed, out xsIgnored, out ysIgnored, out lineX1, out lineY1, out lineX2, out lineY2);
}
else
{
HalconScripts.VisionProStyleFindLineOneStep_Pairs(image, out findLineRegion, out lineRegion,
feeding.Row, feeding.Col, feeding.Radian, feeding.Len1, feeding.Len2, feeding.Transition,
feeding.NumSubRects, feeding.Threshold, feeding.Sigma1, feeding.Sigma2, feeding.WhichEdge,
feeding.IsVertical, feeding.IgnoreFraction, feeding.WhichPair, feeding.MinWidth,
feeding.MaxWidth, _width, _height, feeding.CannyHigh, feeding.CannyLow, "true",
feeding.NewWidth, feeding.KernelWidth, feeding.LongestOnly, out xsUsed, out ysUsed, out xsIgnored, out ysIgnored,
out lineX1, out lineY1,
out lineX2, out lineY2);
}
xs = xsUsed.DArr.ToList();
ys = ysUsed.DArr.ToList();
} // using single edge
else
{
if (feeding.FirstAttemptOnly)
{
HalconScripts.FindLineGradiant(image, out findLineRegion, out lineRegion, feeding.Row, feeding.Col,
feeding.Radian, feeding.Len1, feeding.Len2, feeding.NumSubRects, feeding.IgnoreFraction,
feeding.Transition, feeding.Threshold, feeding.Sigma1, feeding.WhichEdge, out xsUsed,
out ysUsed, out xsIgnored, out ysIgnored, out lineX1, out lineY1, out lineX2, out lineY2);
ys = ysUsed.DArr.ToList();
xs = xsUsed.DArr.ToList();
}
else
{
// HalconScripts.VisionProStyleFindLineOneStep(image, out findLineRegion, out lineRegion,
// feeding.Transition, feeding.Row, feeding.Col, feeding.Radian, feeding.Len1, feeding.Len2,
// feeding.NumSubRects, feeding.Threshold, feeding.WhichEdge, feeding.IgnoreFraction,
// feeding.IsVertical, feeding.Sigma1, feeding.Sigma2, _width, _height, feeding.NewWidth,
// feeding.CannyHigh, feeding.CannyLow, out lineX1, out lineY1, out lineX2, out lineY2, out xsUsed,
// out ysUsed, out xsIgnored, out ysIgnored);
var xsys = HalconHelper.FindLineSubPixel(image, feeding.Row, feeding.Col,
feeding.Radian, feeding.Len1, feeding.Len2, feeding.Transition.S,
feeding.NumSubRects.I, feeding.Threshold, feeding.WhichEdge.S, feeding.IgnoreFraction.D,
feeding.CannyLow, feeding.CannyHigh.D, feeding.Sigma1.D, feeding.Sigma2.D, feeding.NewWidth.I,
feeding.KernelWidth, feeding.LongestOnly,
out edges, out findLineRegion);
xs = xsys.Item1;
ys = xsys.Item2;
}
}
IEnumerable <double> xsInlier, ysInlier;
var line = HalconHelper.RansacFitLine(xs.ToArray(), ys.ToArray(), feeding.ErrorThreshold, feeding.MaxTrials,
feeding.IgnoreFraction, feeding.Probability, out xsInlier, out ysInlier);
xs = xsInlier.ToList();
ys = ysInlier.ToList();
HalconScripts.GenLineRegion(out lineRegion, line.XStart, line.YStart, line.XEnd, line.YEnd, _width,
_height);
lineX1 = line.XStart;
lineY1 = line.YStart;
lineX2 = line.XEnd;
lineY2 = line.YEnd;
// Generate debugging graphics
if (recordGraphics)
{
HObject crossesIgnored;
HOperatorSet.GenCrossContourXld(out crossesIgnored, ysIgnored, xsIgnored, CrossSize, CrossAngle);
// Critical section
lock (this)
{
CrossesUsed.Add(new Tuple <List <double>, List <double> >(xs, ys));
HOperatorSet.ConcatObj(_crossesIgnored, crossesIgnored, out _crossesIgnored);
HOperatorSet.ConcatObj(_findLineRects, findLineRegion, out _findLineRects);
HOperatorSet.ConcatObj(_lineRegions, lineRegion, out _lineRegions);
HOperatorSet.ConcatObj(Edges, edges, out _edges);
}
}
return(new Line(lineX1.D, lineY1.D, lineX2.D, lineY2.D));
}
