public void GetAxesParam(ADisplay aDisplay, bool isShowDistorted)
{
double dOriginX, dOriginY;
ICogTransform2D transform2D;
CogTransform2DLinear transform2DLinear = null;
ICogGraphicInteractive axes = aDisplay.GetInteractiveGraphics("Calibrated Origin");
if (axes != null)
{
CogCoordinateAxes coordinateAxes = axes as CogCoordinateAxes;
dOriginX = coordinateAxes.OriginX;
dOriginY = coordinateAxes.OriginY;
TransUncalibrated2CalibratedCoord(dOriginX, dOriginY, out m_dOriginX, out m_dOriginY);
if (isShowDistorted == true)
{
transform2D = m_cogCalibCheckerboardTool.Calibration.OwnedWarpParams.GetOutputImageRootFromCalibratedTransform();
transform2DLinear = transform2D.LinearTransform(dOriginX, dOriginY).Invert();
m_dRotation = transform2DLinear.MapAngle(m_cogCoordinateAxes.Rotation) + m_dCaibratedRotation;
}
else
{
transform2D = m_cogCalibCheckerboardTool.Calibration.GetComputedUncalibratedFromCalibratedTransform();
transform2DLinear = transform2D.LinearTransform(m_dOriginX, m_dOriginY).Invert();
m_dRotation = transform2DLinear.MapAngle(coordinateAxes.Rotation) + m_dCaibratedRotation;
}
}
}
//영역표시툴 생성 후 코그 디스플레이에 표시
private void button2_Click(object sender, EventArgs e)
{
if (PMTool.Pattern.Trained)
{
PMTool.Pattern.Untrain();
}
PMTool.Pattern.TrainImage = PMTool.InputImage;
//CogRectangleAffine 생성
CogRectangleAffine rec = PMTool.Pattern.TrainRegion as CogRectangleAffine;//CogPMAlignTool.Pattern.TrainRegion을 레퍼런스로
rec.GraphicDOFEnable = CogRectangleAffineDOFConstants.All;
rec.Interactive = true;
rec.TipText = "학습 영역";
rec.SetCenterLengthsRotationSkew(300, 300, 300, 300, 0, 0);
//CogCoordinateAxes 생성 (오리진 좌표)
CogCoordinateAxes axes = new CogCoordinateAxes();
axes.Transform = PMTool.Pattern.Origin;//CogPMAlignTool.Pattern.Origin을 레퍼런스로
axes.TipText = "중심좌표";
axes.GraphicDOFEnable = CogCoordinateAxesDOFConstants.All;
axes.Interactive = true;
axes.MouseCursor = CogStandardCursorConstants.ManipulableGraphic;
axes.OriginX = 300;
axes.OriginY = 300;
//코그디스플레이의 InteractiveGraphics 프라퍼티에 생성한 CogRectangleAffine, CogCoordinateAxes를 Add.
MainDisplay.InteractiveGraphics.Add(rec, "RectangleAffine", false);
MainDisplay.InteractiveGraphics.Add(axes, "Origin", false);
}
private void cmdPatMaxSetupCommand_Click(System.Object sender, System.EventArgs e)
{
cogRecordDisplay1.InteractiveGraphics.Add(cogPMAlignTool.Pattern.TrainRegion as ICogGraphicInteractive, "test", false);
axes = new CogCoordinateAxes();
axes.Transform = cogPMAlignTool.Pattern.Origin;
axes.GraphicDOFEnable = CogCoordinateAxesDOFConstants.All &
~CogCoordinateAxesDOFConstants.Skew;
axes.Interactive = true;
// Add a standard VisionPro "manipulable" mouse cursor.
axes.MouseCursor = CogStandardCursorConstants.ManipulableGraphic;
axes.XAxisLabel.MouseCursor = CogStandardCursorConstants.ManipulableGraphic;
axes.YAxisLabel.MouseCursor = CogStandardCursorConstants.ManipulableGraphic;
cogRecordDisplay1.InteractiveGraphics.Add((ICogGraphicInteractive)axes, "test", false);
}
/*
* public void GetPointParam(ADisplay aDisplay)
* {
* double dOriginX, dOriginY;
* ICogTransform2D transform2D;
* CogTransform2DLinear transform2DLinear = null;
* ICogGraphicInteractive axes = aDisplay.GetInteractiveGraphics("Calibrated Origin");
*
* if (axes != null)
* {
* CogCoordinateAxes coordinateAxes = axes as CogCoordinateAxes;
*
* dOriginX = coordinateAxes.OriginX;
* dOriginY = coordinateAxes.OriginY;
* TransUncalibrated2CalibratedCoord(dOriginX, dOriginY, out m_dOriginX, out m_dOriginY);
*
* if (isShowDistorted == true)
* {
* transform2D = m_cogCalibNPointToNPointTool.Calibration.OwnedWarpParams.GetOutputImageRootFromCalibratedTransform();
* transform2DLinear = transform2D.LinearTransform(dOriginX, dOriginY).Invert();
* m_dRotation = transform2DLinear.MapAngle(m_cogCoordinateAxes.Rotation) + m_dCaibratedRotation;
* }
* else
* {
* transform2D = m_cogCalibNPointToNPointTool.Calibration.GetComputedUncalibratedFromCalibratedTransform();
* transform2DLinear = transform2D.LinearTransform(m_dOriginX, m_dOriginY).Invert();
* m_dRotation = transform2DLinear.MapAngle(coordinateAxes.Rotation) + m_dCaibratedRotation;
* }
* }
* }
*/
public void GetAxesParam(ADisplay aDisplay)
{
double dOriginX, dOriginY;
ICogTransform2D transform2D;
CogTransform2DLinear transform2DLinear = null;
ICogGraphicInteractive axes = aDisplay.GetInteractiveGraphics("Calibrated Origin");
if (axes != null)
{
CogCoordinateAxes coordinateAxes = axes as CogCoordinateAxes;
dOriginX = coordinateAxes.OriginX;
dOriginY = coordinateAxes.OriginY;
TransUncalibrated2CalibratedCoord(dOriginX, dOriginY, out m_dOriginX, out m_dOriginY);
transform2D = m_cogCalibNPointToNPointTool.Calibration.GetComputedUncalibratedFromCalibratedTransform();
transform2DLinear = transform2D.LinearTransform(m_dOriginX, m_dOriginY).Invert();
m_dRotation = transform2DLinear.MapAngle(coordinateAxes.Rotation) + m_dCaibratedRotation;
}
}
private void button1_Click(object sender, EventArgs e) //Teach
{
if (!SettingUp)
{
if ((!AppGen.Inst.MDImain.frmVisionMain.FrmUnloadCarrier.flagFullTray))
{
MessageBox.Show("Please acquire full frame");
return;
}
cogPMAlignTool.Pattern.TrainImage = CalibNPointTool.OutputImage as CogImage8Grey;
//While setting up PMAlign, disable other GUI controls.
SettingUp = true;
DisableAll(settingUpPatMax);
//Add TrainRegion to display's interactive graphics
//Add SearchRegion to display's static graphics for display only.
cogRecordDisplay1.InteractiveGraphics.Clear();
cogRecordDisplay1.StaticGraphics.Clear();
cogRecordDisplay1.InteractiveGraphics.Add(cogPMAlignTool.Pattern.TrainRegion as ICogGraphicInteractive, "test", false);
//Now
axes = new CogCoordinateAxes();
axes.Transform = cogPMAlignTool.Pattern.Origin;
axes.GraphicDOFEnable = CogCoordinateAxesDOFConstants.All &
~CogCoordinateAxesDOFConstants.Skew;
axes.Interactive = true;
// Add a standard VisionPro "manipulable" mouse cursor.
axes.MouseCursor = CogStandardCursorConstants.ManipulableGraphic;
axes.XAxisLabel.MouseCursor = CogStandardCursorConstants.ManipulableGraphic;
axes.YAxisLabel.MouseCursor = CogStandardCursorConstants.ManipulableGraphic;
cogRecordDisplay1.InteractiveGraphics.Add((ICogGraphicInteractive)axes, "test", false);
//if ((cogPMAlignTool.SearchRegion != null))
//{
// //cogPMAlignTool.SearchRegion.FitToImage(cogRecordDisplay1.Image, 0.990,0.999);
// cogRecordDisplay1.StaticGraphics.Add(cogPMAlignTool.SearchRegion as ICogGraphic, "test");
// cogToolBlockEditV21.Subject.Inputs["Image"].Value = cogRecordDisplay1.Image;
//}
//OK has been pressed, completing Setup.
}
else
{
SettingUp = false;
cogRecordDisplay1.InteractiveGraphics.Clear();
cogRecordDisplay1.StaticGraphics.Clear();
//Make sure we catch errors from Train, since they are likely. For example,
//No InputImage, No Pattern Features, etc.
try
{
CalibNPointTool = cogToolBlockEditV21.Subject.Tools["CogCalibNPointToNPointTool1"] as CogCalibNPointToNPointTool;
CalibNPointTool.Run();
cogPMAlignTool.Pattern.Train();
//SavePatternToFile();
//save the teach pattern according to order name (ziv)
AppGen.Inst.MDImain.frmVisionMain.savePattern("Camera3", AppGen.Inst.OrderParams.InsertCode, cogPMAlignTool.Pattern);
}
catch (CogException cogex)
{
MessageBox.Show("Following Specific Cognex Error Occured:" + cogex.Message);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, "PatMax Setup Error");
}
EnableAll(settingUpPatMax);
}
}
