//輪郭抽出して中心座標取得
Point GetCenterPointofLED(Mat grayImage)
{
OpenCvSharp.CPlusPlus.Point centerPoint = new OpenCvSharp.CPlusPlus.Point();
IplImage grayIpl = grayImage.ToIplImage().Clone();
IplImage calibIpl = new IplImage(grayIpl.Size, BitDepth.U8, 3);
//中心の検出
CvBlobs blobs = new CvBlobs();
blobs.Label(grayIpl);
//blobs.FilterByArea(20, 1500);
CvBlob blob = blobs.LargestBlob();
try
{
if (blob != null)
{
centerPoint = new Point(blob.Centroid.X, blob.Centroid.Y);
blobs.RenderBlobs(grayIpl, calibIpl);
}
}catch {
Console.WriteLine("eroor:counter");
}
this.CalibrationImage = new Mat(calibIpl);
Console.WriteLine(centerPoint);
return(centerPoint);
}
/// <summary>
/// Create new generation.
/// </summary>
/// <param name="image"></param>
private void Generation(IplImage image)
{
for (int i = 0; i < GenerationNo; i++)
{
// random no of vertixes
int vertixes = (int)((4.0 * random.NextDouble()) + 1);
// genrate points
OpenCvSharp.CPlusPlus.Point[] points = new OpenCvSharp.CPlusPlus.Point[vertixes];
for (int j = 0; j < vertixes; j++)
{
int y = (int)(image.Height * random.NextDouble());
int x = (int)(image.Width * random.NextDouble());
points[j] = new OpenCvSharp.CPlusPlus.Point(x, y);
}
// color scale
byte colorInt = (byte)(255.0 * random.NextDouble());
Scalar color = new Scalar(colorInt);
List <List <OpenCvSharp.CPlusPlus.Point> > polygon = new List <List <OpenCvSharp.CPlusPlus.Point> >();
polygon.Add(points.ToList());
// draw polygon
children[i] = image.Clone();
Cv2.FillPoly(Cv2.CvArrToMat(children[i]), polygon, color);
}
}
//Set object rectangle, this method is to be called in thread
//가지고 있는 영역 값을 설정한다. 스레드에서 이 함수를 호출하여, 계산이 끝날 때마다 업데이트 시킨다.
public void setDetectionRec(int u0, int v0, int u1, int v1, int u2, int v2, int u3, int v3)
{
rectanPts[0] = new OpenCvSharp.CPlusPlus.Point(u0, v0);
rectanPts[1] = new OpenCvSharp.CPlusPlus.Point(u1, v1);
rectanPts[2] = new OpenCvSharp.CPlusPlus.Point(u2, v2);
rectanPts[3] = new OpenCvSharp.CPlusPlus.Point(u3, v3);
}
//3次元位置取得
Microsoft.Kinect.CameraSpacePoint GetCenterPosition(OpenCvSharp.CPlusPlus.Point colorImagePoint, ushort[] depthBuffer, int imgW, int imgH)
{
Microsoft.Kinect.KinectSensor kinect = Microsoft.Kinect.KinectSensor.GetDefault();
Microsoft.Kinect.CameraSpacePoint[] bodyPosition = new Microsoft.Kinect.CameraSpacePoint[imgW * imgH];
kinect.CoordinateMapper.MapColorFrameToCameraSpace(depthBuffer, bodyPosition);
Microsoft.Kinect.CameraSpacePoint centerPoint = bodyPosition[colorImagePoint.X + colorImagePoint.Y * imgW];
//Console.WriteLine(centerPoint.X.ToString());
return(centerPoint);
}
private byte[] ImageCompleted(MemoryStream ms)
{
Mat src = OpenCvSharp.Extensions.BitmapConverter.ToMat(new System.Drawing.Bitmap(ms));
Mat gray = new Mat();
CascadeClassifier haarCascade = new CascadeClassifier("./haarcascade_frontalface_default.xml");
var result = src.Clone();
Cv2.CvtColor(src, gray, ColorConversion.BgrToGray);
// 顔検出
OpenCvSharp.CPlusPlus.Rect[] faces = haarCascade.DetectMultiScale(
gray);
// 検出した顔の位置に円を描画
foreach (OpenCvSharp.CPlusPlus.Rect face in faces)
{
var center = new OpenCvSharp.CPlusPlus.Point
{
X = (int)(face.X + face.Width * 0.5),
Y = (int)(face.Y + face.Height * 0.5)
};
var axes = new OpenCvSharp.CPlusPlus.Size
{
Width = (int)(face.Width * 0.5),
Height = (int)(face.Height * 0.5)
};
Cv2.Ellipse(result, center, axes, 0, 0, 360, new Scalar(255, 0, 255), 2);
}
System.Drawing.Bitmap dstBitmap = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(result);
byte[] imageData = null;
using (MemoryStream ms2 = new MemoryStream())
{
dstBitmap.Save(ms2, System.Drawing.Imaging.ImageFormat.Jpeg);
imageData = ms2.GetBuffer();
}
return(imageData);
}
private void DrawPoint(Brush brush, Point point)
{
_graphics.FillEllipse(brush, point.X, point.Y, PointSize, PointSize);
}
private void DrawLine(Pen pen, Point p1, Point p2)
{
var t = PointSize / 2;
_graphics.DrawLine(pen, p1.X + t, p1.Y + t, p2.X + t, p2.Y + t);
}
private CvPoint GetMaxLoc(Mat mat)
{
Mat res = new Mat(Cv.Size(mat.Width - _temp.Width + 1, mat.Height - _temp.Height + 1), MatType.CV_32F);
Cv2.MatchTemplate(mat, _temp, res, MatchTemplateMethod.CCoeffNormed);
Point p1 = new Point();
Point p2 = new Point();
//Cv2.Normalize(res, res, 8, 0, NormType.MinMax);
Cv2.MinMaxLoc(res, out p1, out p2);
return p2;
}
static OpenCvSharp.CPlusPlus.Point TrackDetection(List <Mat> mats, int px, int py, int shiftx = 2, int shifty = 2, int shiftpitch = 4, int windowsize = 40, int phthresh = 5, bool debugflag = false)
{
int x0 = px - 256;
int y0 = py - 220;
List <rawmicrotrack> rms = new List <rawmicrotrack>();
// Point2d pixel_cen = TrackDetection(binimages, 256, 220, 3, 3, 4, 90, 3);
int counter = 0;
for (int ax = -shiftx; ax <= shiftx; ax++)
{
for (int ay = -shifty; ay <= shifty; ay++)
{
using (Mat big = Mat.Zeros(600, 600, MatType.CV_8UC1))
using (Mat imgMask = Mat.Zeros(big.Height, big.Width, MatType.CV_8UC1))
{
//make the size of mask
int ystart = big.Height / 2 + y0 - windowsize / 2;
int yend = big.Height / 2 + y0 + windowsize / 2;
int xstart = big.Width / 2 + x0 - windowsize / 2;
int xend = big.Width / 2 + x0 + windowsize / 2;
//make mask as shape of rectangle. by use of opencv
OpenCvSharp.CPlusPlus.Rect recMask = new OpenCvSharp.CPlusPlus.Rect(xstart, ystart, windowsize, windowsize);
Cv2.Rectangle(imgMask, recMask, 255, -1);//brightness=1, fill
for (int p = 0; p < mats.Count; p++)
{
int startx = big.Width / 2 - mats[p].Width / 2 + (int)(p * ax * shiftpitch / 8.0);
int starty = big.Height / 2 - mats[p].Height / 2 + (int)(p * ay * shiftpitch / 8.0);
Cv2.Add(
big[starty, starty + mats[p].Height, startx, startx + mats[p].Width],
mats[p],
big[starty, starty + mats[p].Height, startx, startx + mats[p].Width]);
}
using (Mat big_c = big.Clone())
{
Cv2.Threshold(big, big, phthresh, 255, ThresholdType.ToZero);
Cv2.BitwiseAnd(big, imgMask, big);
//Mat roi = big[ystart, yend , xstart, xend];//メモリ領域がシーケンシャルにならないから輪郭抽出のときに例外が出る。
if (debugflag == true)
{//
//bigorg.ImWrite(String.Format(@"{0}_{1}_{2}.png",counter,ax,ay));
//Mat roiwrite = roi.Clone() * 30;
//roiwrite.ImWrite(String.Format(@"roi_{0}_{1}_{2}.png", counter, ax, ay));
Cv2.Rectangle(big_c, recMask, 255, 1);//brightness=1, fill
Cv2.ImShow("big_cx30", big_c * 30);
Cv2.ImShow("bigx30", big * 30);
//Cv2.ImShow("imgMask", imgMask);
//Cv2.ImShow("roi", roi * 30);
Cv2.WaitKey(0);
}
}//using big_c
using (CvMemStorage storage = new CvMemStorage())
using (CvContourScanner scanner = new CvContourScanner(big.ToIplImage(), storage, CvContour.SizeOf, ContourRetrieval.Tree, ContourChain.ApproxSimple))
{
foreach (CvSeq <CvPoint> c in scanner)
{
CvMoments mom = new CvMoments(c, false);
if (c.ElemSize < 2)
{
continue;
}
if (mom.M00 < 1.0)
{
continue;
}
double mx = mom.M10 / mom.M00;
double my = mom.M01 / mom.M00;
rawmicrotrack rm = new rawmicrotrack();
rm.ax = ax;
rm.ay = ay;
rm.cx = (int)(mx - big.Width / 2);
rm.cy = (int)(my - big.Height / 2);
rm.pv = (int)(mom.M00);
rms.Add(rm);
//Console.WriteLine(string.Format("{0} {1} {2} {3} {4}", rm.pv, ax, ay, rm.cx, rm.cy ));
}
}//using contour
//big_c.Dispose();
counter++;
}//using Mat
}//ay
}//ax
OpenCvSharp.CPlusPlus.Point trackpos = new OpenCvSharp.CPlusPlus.Point(0, 0);
if (rms.Count > 0)
{
rawmicrotrack rm = new rawmicrotrack();
double meancx = 0;
double meancy = 0;
double meanax = 0;
double meanay = 0;
double meanph = 0;
double meanpv = 0;
double sumpv = 0;
for (int i = 0; i < rms.Count; i++)
{
meanpv += rms[i].pv * rms[i].pv;
meancx += rms[i].cx * rms[i].pv;
meancy += rms[i].cy * rms[i].pv;
meanax += rms[i].ax * rms[i].pv;
meanay += rms[i].ay * rms[i].pv;
sumpv += rms[i].pv;
}
meancx /= sumpv;//重心と傾きを輝度値で重み付き平均
meancy /= sumpv;
meanax /= sumpv;
meanay /= sumpv;
meanpv /= sumpv;
trackpos = new OpenCvSharp.CPlusPlus.Point(
(int)(meancx) + 256 - meanax * shiftpitch,
(int)(meancy) + 220 - meanay * shiftpitch
);
double anglex = (meanax * shiftpitch * 0.267) / (3.0 * 7.0 * 2.2);
double angley = (meanay * shiftpitch * 0.267) / (3.0 * 7.0 * 2.2);
Console.WriteLine(string.Format("{0:f4} {1:f4}", anglex, angley));
}
else
{
trackpos = new OpenCvSharp.CPlusPlus.Point(-1, -1);
}
return(trackpos);
}//track detection
private void task()
{
System.Diagnostics.Stopwatch worktime = new System.Diagnostics.Stopwatch();//Stopwatch
worktime.Start();
MotorControler mc = MotorControler.GetInstance(parameterManager);
Camera camera = Camera.GetInstance();
TracksManager tm = parameterManager.TracksManager;
Track myTrack = tm.GetTrack(tm.TrackingIndex);
Surface surface = Surface.GetInstance(parameterManager);
//for up layer
double Sh = 0.5 / (surface.UpTop - surface.UpBottom);
double tansi = Math.Sqrt(myTrack.MsDX * myTrack.MsDX + myTrack.MsDY * myTrack.MsDY);
double theta = Math.Atan(tansi);
double dz;
double dz_price_img = (6 * Math.Cos(theta) / Sh) / 1000;
double dz_img = dz_price_img * (-1);
string datarootdirpath = string.Format(@"C:\MKS_test\{0}", myTrack.IdString);//Open forder to store track information
System.IO.DirectoryInfo mydir = System.IO.Directory.CreateDirectory(datarootdirpath);
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>();
List <Point3d> LTrack = new List <Point3d>();
List <List <ImageTaking> > UpTrackInfo = new List <List <ImageTaking> >();
//for down layer................................................................
double Sh_low;
Sh_low = 0.5 / (surface.LowTop - surface.LowBottom);
List <OpenCvSharp.CPlusPlus.Point2d> Msdxdy_Low = new List <OpenCvSharp.CPlusPlus.Point2d>();
List <OpenCvSharp.CPlusPlus.Point3d> LStage_Low = new List <OpenCvSharp.CPlusPlus.Point3d>();
List <OpenCvSharp.CPlusPlus.Point> LPeak_Low = new List <OpenCvSharp.CPlusPlus.Point>();
List <Point3d> LTrack_Low = new List <Point3d>();
List <List <ImageTaking> > LowTrackInfo = new List <List <ImageTaking> >();
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++)
{
Vector3 initialpos = mc.GetPoint();
double moverange = 9 * dz_img;
double predpoint = moverange + initialpos.Z;
if (predpoint < surface.UpBottom)
{
gotobase = 1;
dz = surface.UpBottom - initialpos.Z + 9 * 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( //image taking
Msdxdy[i].X * Sh, //Dx
Msdxdy[i].Y * Sh, //Dy
dz_img, //Dz
10); //number of images
LStage.Add(new OpenCvSharp.CPlusPlus.Point3d(LiITUpMid[9].StageCoord.X, LiITUpMid[9].StageCoord.Y, LiITUpMid[9].StageCoord.Z));
LiITUpMid[9].img.ImWrite(datarootdirpath + string.Format(@"\img_l_up_{0}.bmp", i));
UpTrackInfo.Add(LiITUpMid);
List <Mat> binimages = new List <Mat>();
for (int t = 0; t <= 9; 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, 6);//, true);
//Point2d pixel_cen = TrackDetection(binimages, 256, 220, 3, 3, 4, 90, true);
if (pixel_cen.X == -1 & pixel_cen.Y == -1)
{
mc.Join();
not_detect = 1;
goto not_detect_track;
}
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 = datarootdirpath + 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 = 9 * 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 + 9 * 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,
10);
//画像・座標の記録
LStage_Low.Add(new OpenCvSharp.CPlusPlus.Point3d(LiITLowMid[9].StageCoord.X, LiITLowMid[9].StageCoord.Y, LiITLowMid[9].StageCoord.Z));
LiITLowMid[9].img.ImWrite(datarootdirpath + string.Format(@"\img_l_low_{0}.png", 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 <= 9; 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, 6);//, true);//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 = datarootdirpath + 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(datarootdirpath + 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_surface = datarootdirpath + string.Format(@"\surface.txt");
StreamWriter twriter_surface = File.CreateText(txtfileName_surface);
twriter_surface.WriteLine("{0} {1} {2} {3}", surface.UpTop, surface.UpBottom, surface.LowTop, surface.LowBottom);
twriter_surface.Close();
string txtfileName_sh_up = datarootdirpath + 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 = datarootdirpath + 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(datarootdirpath + 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 = datarootdirpath + 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 = datarootdirpath + 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 = datarootdirpath + 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 = datarootdirpath + 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 = datarootdirpath + 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(datarootdirpath + 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 = datarootdirpath + 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 = datarootdirpath + 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 = datarootdirpath + 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();
worktime.Stop();
string txtfileName_time_log = datarootdirpath + string.Format(@"\time_log.txt");
StreamWriter twriter_time_log = File.CreateText(txtfileName_time_log);
twriter_time_log.WriteLine("{0} {1} {2}", myTrack.MsDX, myTrack.MsDY, worktime.Elapsed);
twriter_time_log.Close();
GoTopUp();
mc.Join();
}
//輪郭抽出して中心座標取得
Point GetCenterPointofLED(Mat grayImage)
{
OpenCvSharp.CPlusPlus.Point centerPoint = new OpenCvSharp.CPlusPlus.Point();
IplImage grayIpl = grayImage.ToIplImage().Clone();
IplImage calibIpl = new IplImage(grayIpl.Size, BitDepth.U8, 3);
//中心の検出
CvBlobs blobs = new CvBlobs();
blobs.Label(grayIpl);
//blobs.FilterByArea(20, 1500);
CvBlob blob = blobs.LargestBlob();
try
{
if (blob != null)
{
centerPoint = new Point(blob.Centroid.X, blob.Centroid.Y);
blobs.RenderBlobs(grayIpl, calibIpl);
}
}catch{
Console.WriteLine("eroor:counter");
}
this.CalibrationImage = new Mat(calibIpl);
Console.WriteLine(centerPoint);
return centerPoint;
}
/// <summary>
/// 指定した点がこの矩形に含まれているかどうかを判断する
/// </summary>
/// <param name="pt">点</param>
/// <returns></returns>
#else
/// <summary>
/// Determines if the specified point is contained within the rectangular region defined by this Rectangle.
/// </summary>
/// <param name="pt">point</param>
/// <returns></returns>
#endif
public bool Contains(Point pt)
{
return Contains(pt.X, pt.Y);
}
private unsafe void OpenCV(ref Bitmap bitmap)
{
Mat testMat = BitmapConverter.ToMat(bitmap);
MatOfDouble mu = new MatOfDouble();
MatOfDouble sigma = new MatOfDouble();
Cv2.MeanStdDev(testMat, mu, sigma);
double mean = mu.GetArray(0, 0)[0];
mu.Dispose();
sigma.Dispose();
SimpleBlobDetector.Params circleParameters = new SimpleBlobDetector.Params();
circleParameters.FilterByCircularity = true;
circleParameters.MinCircularity = (float)0.85;
circleParameters.MaxCircularity = (float)1;
circleParameters.MinArea = 30; // Modify the value on the fly (TODO use bigger circle)
SimpleBlobDetector detectCircleBlobs = new SimpleBlobDetector(circleParameters);
fingerPoints = detectCircleBlobs.Detect(testMat);
detectCircleBlobs.Dispose();
// If Finger found basically
if (fingerPoints != null)
{
this.fingerSize = 0;
int fingerIndex = -1;
for (int i = 0; i < fingerPoints.Length; i++)
{
if (fingerPoints[i].Size >= this.fingerSize)
{
this.fingerSize = (int)fingerPoints[i].Size;
fingerIndex = i;
}
}
if (fingerIndex != -1)
{
OpenCvSharp.CPlusPlus.Point coordinate = fingerPoints[fingerIndex].Pt;
this.fingerSize = (int)((fingerPoints[fingerIndex].Size) * Math.Sqrt(2));
testMat.Set <Vec3b>(coordinate.Y, coordinate.X, new Vec3b(0, 255, 0));
RotatedRect rRect = new RotatedRect(new Point2f(coordinate.X, coordinate.Y), new Size2f(this.fingerSize, this.fingerSize), 0);
Point2f[] circleVerticies = rRect.Points();
//this.fingerCoordinates[0] = coordinate.X;
//this.fingerCoordinates[1] = coordinate.Y;
int height = (int)(circleVerticies[0].Y - circleVerticies[1].Y);
int width = (int)(circleVerticies[2].X - circleVerticies[1].X);
int startX = (int)(circleVerticies[0].X);
int startY = (int)(circleVerticies[1].Y);
this.fingerDepth = MapColortoDepth(startX, startY, this.fingerSize, this.fingerSize);
OpenCvSharp.CPlusPlus.Rect featureRect = new OpenCvSharp.CPlusPlus.Rect(startX, startY, this.fingerSize, this.fingerSize);
// Draw box around finger
for (int j = 0; j < 4; j++)
{
Cv2.Line(testMat, circleVerticies[j], circleVerticies[(j + 1) % 4], new Scalar(0, 255, 0));
}
Boolean intersectOccurance = false;
List <int> intersectIndicies = new List <int>();
for (int i = 0; i < this.controls.Count; i++)
{
if (this.controls[i].boundingRect.IntersectsWith(featureRect))
{
double diff = fingerDepth - this.controls[i].depth;
if (Math.Abs(diff) < 0.5)
{
intersectOccurance = true;
intersectIndicies.Add(i);
}
}
}
System.Text.StringBuilder append = new System.Text.StringBuilder();
if (intersectOccurance)
{
for (int i = 0; i < intersectIndicies.Count; i++)
{
append.Append(" " + this.controls[intersectIndicies[i]].title + " " + intersectIndicies[i].ToString());
}
this.OutputText = "Pressed Button" + append; //TODO Make this more obvious
}
else
{
this.OutputText = "No State";
}
}
}
bitmap = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(testMat);
testMat.Dispose();
}
}//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();
}