public static Bitmap HObject2Bitmap(HObject myHObject)
{
HTuple pointerRed = null;
HTuple pointerGreen = null;
HTuple pointerBlue = null;
HTuple type;
HTuple width;
HTuple height;
HOperatorSet.GetImagePointer3(myHObject, out pointerRed, out pointerGreen, out pointerBlue, out type, out width, out height);
Bitmap bitmap = new Bitmap((Int32)width, (Int32)height, PixelFormat.Format32bppRgb);
BitmapData bmpData = bitmap.LockBits(new Rectangle(0, 0, bitmap.Width / 4, bitmap.Height / 4), ImageLockMode.ReadWrite, bitmap.PixelFormat);
IntPtr source_scan = bmpData.Scan0;
unsafe
{
byte* source_p = (byte*)source_scan.ToPointer();
byte* Red = (byte*)pointerRed.IP.ToPointer();
byte* Blue = (byte*)pointerBlue.IP.ToPointer();
byte* Green = (byte*)pointerGreen.IP.ToPointer();
for (int h = 0; h < bitmap.Height; h++)
{
for (int w = 0; w < bitmap.Width; w++)
{
source_p[0] = Blue[0]; //A
source_p++;
Blue++;
source_p[0] = Green[0]; //R
source_p++;
Green++;
source_p[0] = Red[0]; //G
source_p++;
Red++;
//source_p[0] = Blue[0]; //B
source_p++;
}
}
}
bitmap.UnlockBits(bmpData);
return bitmap;
}
private void button1_Click(object sender, EventArgs e)
{
openFileDialog1.Title = "Select Picture";
openFileDialog1.Filter = "Image Files (*.bmp, *.gif, *.jpg,*.png)|*.bmp; *.gif*;*.jpg;*.png";
openFileDialog1.InitialDirectory = "C:/Users/User/Desktop/ZQSFP_ detection2015_12_09/ZQSFP_ detection";
openFileDialog1.AddExtension = true;
openFileDialog1.CheckFileExists = true;
openFileDialog1.CheckPathExists = true;
if (openFileDialog1.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
if (Image != null)
{
Image.Dispose();
}
HOperatorSet.GenEmptyObj(out Image);
HOperatorSet.ReadImage(out Image, openFileDialog1.FileName);
HOperatorSet.GetImageSize(Image, out hv_Width, out hv_Height);
}
else
{
Image = null;
}
HOperatorSet.GetImageSize(Image, out hv_Width, out hv_Height);
HOperatorSet.SetSystem("width", hv_Width);
HOperatorSet.SetSystem("height", hv_Height);
HOperatorSet.SetPart(hWindowControl1.HalconWindow, 0, 0, hv_Height - 1, hv_Width - 1);
HOperatorSet.ClearWindow(hWindowControl1.HalconWindow);
HOperatorSet.DispObj(Image, hWindowControl1.HalconWindow);
}
public void Initialize(HImage image, HTuple modelRow, HTuple modelColumn, HTuple modelAngle)
{
ho_Image = image;
hv_AllModelRow = new HTuple(modelRow);
hv_AllModelColumn = new HTuple(modelColumn);
hv_AllModelAngle = new HTuple(modelAngle);
}
public HDevelopExport1(HObject ho_Image)
{
// Default settings used in HDevelop
HOperatorSet.SetSystem("width", 512);
HOperatorSet.SetSystem("height", 512);
if (HalconAPI.isWindows)
HOperatorSet.SetSystem("use_window_thread","true");
action(ho_Image);
}
public void Add_Object_disp(HObject obj, HTuple color, HTuple Draw, HTuple LineWidth)
{
setObjectdisplay OD = new setObjectdisplay();
OD.color = color;
OD.Draw = Draw;
OD.LineWidth = LineWidth;
Object_disp.Add(obj);
setObject_display.Add(OD);
}
/// <summary>
/// Evaluates the gray value contrast between the marks and the calibration
/// plate and the homogeneity of the used illumination.
/// </summary>
public void eval_caltab_contrast_homogeneity(HObject ho_Image,
HObject ho_Marks,
out HTuple hv_Contrast,
out HTuple hv_ContrastScore,
out HTuple hv_HomogeneityScore)
{
// Local iconic variables
HObject ho_Region, ho_RegionDilation;
// Local control variables
HTuple hv_Number, hv_Min, hv_Max, hv_Range;
HTuple hv_MinContrast, hv_MaxContrast, hv_DeviationMax;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Region);
HOperatorSet.GenEmptyObj(out ho_RegionDilation);
hv_ContrastScore = 0.0;
hv_Contrast = 0.0;
hv_HomogeneityScore = 0.0;
HOperatorSet.CountObj(ho_Marks, out hv_Number);
if ((int)(new HTuple(hv_Number.TupleLess(4))) != 0)
{
ho_Region.Dispose();
ho_RegionDilation.Dispose();
return;
}
ho_Region.Dispose();
HOperatorSet.GenRegionContourXld(ho_Marks, out ho_Region, "margin");
ho_RegionDilation.Dispose();
HOperatorSet.DilationCircle(ho_Region, out ho_RegionDilation, 5.5);
HOperatorSet.MinMaxGray(ho_RegionDilation, ho_Image, 3, out hv_Min, out hv_Max,
out hv_Range);
//Calculate contrast score
hv_Contrast = hv_Range.TupleMean();
hv_MinContrast = 70;
hv_MaxContrast = 160;
if ((int)(new HTuple(hv_Contrast.TupleGreater(hv_MinContrast))) != 0)
{
hv_ContrastScore = (hv_Contrast - hv_MinContrast) / (hv_MaxContrast - hv_MinContrast);
hv_ContrastScore = ((hv_ContrastScore.TupleConcat(1.0))).TupleMin();
}
//Now for the homogeneity score
HOperatorSet.TupleDeviation(hv_Max, out hv_DeviationMax);
hv_HomogeneityScore = 1.1 - (hv_DeviationMax / 40.0);
hv_HomogeneityScore = ((((((hv_HomogeneityScore.TupleConcat(1.0))).TupleMin()
)).TupleConcat(0.0))).TupleMax();
ho_Region.Dispose();
ho_RegionDilation.Dispose();
return;
}
// Main procedure
private void action(DrawlinetoRectangle2 Rectangle2, int Sigma, int threshold, HObject hv_image)
{
HObject hv_image_c; //複製一份主圖進來運算
hv_image_c = hv_image.Clone();
//Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Cross);
HOperatorSet.GenEmptyObj(out ho_Cross1);
HOperatorSet.GetImageSize(hv_image_c, out hv_Width, out hv_Height); //得到影像大小(2448*2048)
HOperatorSet.GenMeasureRectangle2(Rectangle2.get_rectangle_Row, //產生測量矩形
Rectangle2.get_rectangle_Column, Rectangle2.get_rectangle_Phi,
Rectangle2.get_rectangle_Length1,Rectangle2.get_rectangle_Length2,
hv_Width, hv_Height, "nearest_neighbor", out hv_MeasureHandle);
//---------------------------------------------------------------------------------
//HOperatorSet.MeasurePairs(hv_image_c, hv_MeasureHandle, 1.5, 30, "negative", "all",
//out hv_RowEdgeFirst, out hv_ColumnEdgeFirst, out hv_AmplitudeFirst, out hv_RowEdgeSecond,
//out hv_ColumnEdgeSecond, out hv_AmplitudeSecond, out hv_PinWidth, out hv_PinDistance);
////Delete the measure object
//ho_Cross.Dispose();
//HOperatorSet.GenCrossContourXld(out ho_Cross, hv_RowEdgeFirst, hv_ColumnEdgeFirst,
// Rectangle2.get_rectangle_Length2 * 2, Rectangle2.get_rectangle_Phi);
//ho_Cross1.Dispose();
//HOperatorSet.GenCrossContourXld(out ho_Cross1, hv_RowEdgeSecond, hv_ColumnEdgeSecond,
// Rectangle2.get_rectangle_Length2 * 2, Rectangle2.get_rectangle_Phi);
//HOperatorSet.DispObj(hv_image_c, hv_ExpDefaultWinHandle);
//HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "red");
//HOperatorSet.DispObj(ho_Cross, hv_ExpDefaultWinHandle);
//HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "blue");
//HOperatorSet.DispObj(ho_Cross1, hv_ExpDefaultWinHandle);
//HOperatorSet.CloseMeasure(hv_MeasureHandle); //關閉測量控制器 hv_MeasureHandle
//hv_image_c.Dispose();
//-------------------------------------------------------------------------------------
HOperatorSet.MeasurePos(hv_image_c, hv_MeasureHandle, Sigma, threshold, //設定測量參數 並且輸出測量錨點
"all", "all", out hv_RowEdge, out hv_ColumnEdge, out hv_Amplitude, out hv_Distance);
ho_Cross.Dispose();
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "blue"); //設定顏色及型態
HOperatorSet.SetDraw(hv_ExpDefaultWinHandle, "margin");
HOperatorSet.GenCrossContourXld(out ho_Cross, hv_RowEdge, hv_ColumnEdge, //產生錨點標記十字
Rectangle2.get_rectangle_Length2 * 2, Rectangle2.get_rectangle_Phi);
HOperatorSet.DispObj(hv_image_c, hv_ExpDefaultWinHandle);
HOperatorSet.DispObj(ho_Cross, hv_ExpDefaultWinHandle);
HOperatorSet.CloseMeasure(hv_MeasureHandle); //關閉測量控制器 hv_MeasureHandle
hv_image_c.Dispose();
}
private void button2_Click(object sender, EventArgs e)
{
HOperatorSet.ReadImage(out Image2, "C:/Users/User/Desktop/ccd+25mm.bmp");
Image = Image2;
HOperatorSet.GetImageSize(Image, out hv_Width, out hv_Height);
HOperatorSet.SetSystem("width", hv_Width);
HOperatorSet.SetSystem("height", hv_Height);
HOperatorSet.SetPart(hWindowControl1.HalconWindow, 0, 0, hv_Height - 1, hv_Width - 1);
HOperatorSet.ClearWindow(hWindowControl1.HalconWindow);
HOperatorSet.DispObj(Image, hWindowControl1.HalconWindow);
}
public void captrue(out HObject ho_Image_capture)
{
if (open == true)
{
HOperatorSet.GrabImageAsync(out ho_Image_capture, hv_AcqHandle, -1);//影像擷取序列打開.
}
else
{
MessageBox.Show("相機沒打開");
ho_Image_capture = null;
}
}
/// <summary>
/// 找到匹配模型
/// </summary>
/// <param name="hImage">影像</param>
/// <param name="trainingModelfilepath">匹配模型數據檔案路徑</param>
/// <returns></returns>
public ShapeModel Find(HObject hImage, string trainingModelfilepath)
{
ShapeModel shapeModel = null;
if (File.Exists(trainingModelfilepath))
{
try
{
Hanbo.Log.LogManager.Trace("ShapeFinder @Find() => readShapeModel()");
HTuple hv_A1LModelId = ReadShapeModel(trainingModelfilepath);
shapeModel = findShapeModel(hImage, hv_A1LModelId);
}
catch (Exception ex)
{
Hanbo.Log.LogManager.Error("ShapeFinder exception:" + ex.Message);
}
}
return shapeModel;
}
private FitLineResult fitline(HObject rectifyImage, bool isImage)
{
HObject edges, contoursSplit;
HOperatorSet.GenEmptyObj(out edges);
HOperatorSet.GenEmptyObj(out contoursSplit);
//Edgesubpix
var alpha = mMeasAssist.EdgesAlpha;
var grayHigh = mMeasAssist.EdgesGrayHigh;
HOperatorSet.EdgesSubPix(rectifyImage, out edges, _filter, alpha, _low, grayHigh);
HOperatorSet.SegmentContoursXld(edges, out contoursSplit, _mode, _smoothCont, _maxLineDist1, _maxLineDist2);
return fitline(contoursSplit);
}
// Main procedure
#region 循环执行
private void actionMiaUsed()
{
// Stack for temporary objects 临时对象堆栈
HObject[] OTemp = new HObject[20];
// Local variables 变量
HObject ho_InfoModelContours, ho_SignModelContours;
HObject ho_Image = null, ho_SymbolRegions = null, ho_ROI_OCR_01_0 = null;
HObject ho_EDGE = null, ho_ObjectSelected = null, ho_InfoTransContours = null;
HObject ho_SignTransContours = null;
// Local control variables 全局变量
HTuple hv_BarWidth = new HTuple(), hv_BarHeight = new HTuple();
HTuple hv_BarCodeHandle = new HTuple(), hv_InfoModel = new HTuple();
HTuple hv_SignModel = new HTuple(), hv_WindowHandle = new HTuple();
HTuple hv_AcqHandle = new HTuple(), hv_InfoRow = new HTuple();
HTuple hv_InfoColumn = new HTuple(), hv_InfoAngle = new HTuple();
HTuple hv_InfoScore = new HTuple(), hv_DecodedDataStrings = new HTuple();
HTuple hv_someitem = new HTuple(), hv_SignRow = new HTuple();
HTuple hv_SignColumn = new HTuple(), hv_SignAngle = new HTuple();
HTuple hv_SignScore = new HTuple(), hv_SymbolNames_OCR_01_0 = new HTuple();
HTuple hv_Ocr_Split = new HTuple(), hv_Area = new HTuple();
HTuple hv_IDRow = new HTuple(), hv_IDColumn = new HTuple();
HTuple hv_IDRow1 = new HTuple(), hv_IDColumn1 = new HTuple();
HTuple hv_IDRow2 = new HTuple(), hv_IDColumn2 = new HTuple();
HTuple hv_IDHeight = new HTuple(), hv_IDWidth = new HTuple();
HTuple hv_IDRatio = new HTuple(), hv_HeadSignScale = new HTuple();
HTuple hv_HeadSignRow = new HTuple(), hv_HeadSignCol = new HTuple();
HTuple hv_HeadPhi = new HTuple(), hv_sign = new HTuple();
HTuple hv_BarIndex = new HTuple(), hv_Row = new HTuple();
HTuple hv_Column = new HTuple(), hv_InfoHomMat2D = new HTuple();
HTuple hv_SignHomMat2D = new HTuple(), hv_Exception = new HTuple();
// Initialize local and output iconic variables 初始化本地和输出图标变量
HOperatorSet.GenEmptyObj(out ho_InfoModelContours);
HOperatorSet.GenEmptyObj(out ho_SignModelContours);
HOperatorSet.GenEmptyObj(out ho_Image);
HOperatorSet.GenEmptyObj(out ho_SymbolRegions);
HOperatorSet.GenEmptyObj(out ho_ROI_OCR_01_0);
HOperatorSet.GenEmptyObj(out ho_EDGE);
HOperatorSet.GenEmptyObj(out ho_ObjectSelected);
HOperatorSet.GenEmptyObj(out ho_InfoTransContours);
HOperatorSet.GenEmptyObj(out ho_SignTransContours);
try
{
//***
//** INIT
//* INIT CONST 常量
hv_BarWidth.Dispose();
hv_BarWidth = 800;
hv_BarHeight.Dispose();
hv_BarHeight = 100;
//* INIT IMAGE 图像
//* INIT BARCODE 条形码
hv_BarCodeHandle.Dispose();
HOperatorSet.CreateBarCodeModel(new HTuple(), new HTuple(), out hv_BarCodeHandle);
HOperatorSet.SetBarCodeParam(hv_BarCodeHandle, "quiet_zone", "true");
//* INIT LOC 位置
//* Info:
hv_InfoModel.Dispose();
HOperatorSet.ReadShapeModel("C:/Users/zhang-sh/source/repos/repo/Model/file/InvV1CaliSign.shm",
out hv_InfoModel);
ho_InfoModelContours.Dispose();
HOperatorSet.GetShapeModelContours(out ho_InfoModelContours, hv_InfoModel,
1);
//* Sign 标志
hv_SignModel.Dispose();
HOperatorSet.ReadShapeModel("C:/Users/zhang-sh/source/repos/repo/Model/file/InvV1CaliSign.shm",
out hv_SignModel);
ho_SignModelContours.Dispose();
HOperatorSet.GetShapeModelContours(out ho_SignModelContours, hv_SignModel,
1);
//***
//** DISPLAY
//* DISPLAY INIT
hDevelo.dev_update_off();
//dev_close_window(...);
//dev_open_window(...);
//***
//** LOOP
//Image Acquisition 01: Code generated by Image Acquisition 01 图像采集01：图像采集01生成的代码
hv_AcqHandle.Dispose();
hv_AcqHandle = acqHandle;
while ((int)(1) != 0)
{
ho_Image.Dispose();
HOperatorSet.GrabImage(out ho_Image, hv_AcqHandle);
if (ho_Image != null)
{
HOperatorSet.Intensity(ho_Image, ho_Image, out hv_Mean, out hv_Deviation); // 求图片平均值和方差
}
{
HObject ExpTmpOutVar_0;
hDevelo.image_cali_map(ho_Image, out ExpTmpOutVar_0, new HTuple(), new HTuple());
ho_Image.Dispose();
ho_Image = ExpTmpOutVar_0;
HOperatorSet.DispObj(ho_Image, hv_ExpImageRawWinHandle);
}
try
{
//** PRE
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_InfoRow.Dispose(); hv_InfoColumn.Dispose(); hv_InfoAngle.Dispose(); hv_InfoScore.Dispose();
HOperatorSet.FindShapeModel(ho_Image, hv_InfoModel, (new HTuple(0)).TupleRad()
, (new HTuple(360)).TupleRad(), 0.3, 1, 0.5, "least_squares", (new HTuple(7)).TupleConcat(
1), 0.6, out hv_InfoRow, out hv_InfoColumn, out hv_InfoAngle, out hv_InfoScore);
}
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
HObject ExpTmpOutVar_0;
HOperatorSet.RotateImage(ho_Image, out ExpTmpOutVar_0, ((-hv_InfoAngle)).TupleDeg()
, "constant");
ho_Image.Dispose();
ho_Image = ExpTmpOutVar_0;
}
HOperatorSet.DispObj(ho_Image, hv_ExpDefaultWinHandle);
//** RECOGNITION
//* BARCODE
ho_SymbolRegions.Dispose(); hv_DecodedDataStrings.Dispose(); hv_someitem.Dispose();
hDevelo.image_get_bar(ho_Image, out ho_SymbolRegions, hv_BarCodeHandle, out hv_DecodedDataStrings,
out hv_someitem);
//* LOC
//* Info:
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_InfoRow.Dispose(); hv_InfoColumn.Dispose(); hv_InfoAngle.Dispose(); hv_InfoScore.Dispose();
HOperatorSet.FindShapeModel(ho_Image, hv_InfoModel, (new HTuple(0)).TupleRad()
, (new HTuple(360)).TupleRad(), 0.3, 1, 0.5, "least_squares", (new HTuple(7)).TupleConcat(
1), 0.7, out hv_InfoRow, out hv_InfoColumn, out hv_InfoAngle, out hv_InfoScore);
}
//* HaedSign
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_SignRow.Dispose(); hv_SignColumn.Dispose(); hv_SignAngle.Dispose(); hv_SignScore.Dispose();
HOperatorSet.FindShapeModel(ho_Image, hv_SignModel, (new HTuple(0)).TupleRad()
, (new HTuple(360)).TupleRad(), 0.3, 1, 0.5, "least_squares", (new HTuple(7)).TupleConcat(
1), 0.7, out hv_SignRow, out hv_SignColumn, out hv_SignAngle, out hv_SignScore);
}
//* Ocr
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
ho_ROI_OCR_01_0.Dispose();
HOperatorSet.GenRectangle2(out ho_ROI_OCR_01_0, hv_InfoRow + 70, hv_InfoColumn - 700,
hv_InfoAngle, 100, 30);
}
hv_SymbolNames_OCR_01_0.Dispose(); hv_Ocr_Split.Dispose();
hDevelo.region_ocr_num_svm(ho_Image, ho_ROI_OCR_01_0, new HTuple(), new HTuple(),
out hv_SymbolNames_OCR_01_0, out hv_Ocr_Split);
hv_Area.Dispose(); hv_IDRow.Dispose(); hv_IDColumn.Dispose();
HOperatorSet.AreaCenter(ho_ROI_OCR_01_0, out hv_Area, out hv_IDRow, out hv_IDColumn);
hv_IDRow1.Dispose(); hv_IDColumn1.Dispose(); hv_IDRow2.Dispose(); hv_IDColumn2.Dispose();
HOperatorSet.SmallestRectangle1(ho_ROI_OCR_01_0, out hv_IDRow1, out hv_IDColumn1,
out hv_IDRow2, out hv_IDColumn2);
hv_IDHeight.Dispose(); hv_IDWidth.Dispose(); hv_IDRatio.Dispose();
HOperatorSet.HeightWidthRatio(ho_ROI_OCR_01_0, out hv_IDHeight, out hv_IDWidth,
out hv_IDRatio);
//* Sign
hv_HeadSignScale.Dispose();
hv_HeadSignScale = 1;
hv_HeadSignRow.Dispose();
hv_HeadSignRow = new HTuple(hv_SignRow);
hv_HeadSignCol.Dispose();
hv_HeadSignCol = new HTuple(hv_SignColumn);
hv_HeadPhi.Dispose();
hv_HeadPhi = new HTuple(hv_SignAngle);
ho_EDGE.Dispose(); hv_sign.Dispose();
hDevelo.region_judge_sign(ho_Image, out ho_EDGE, hv_HeadSignScale, hv_HeadSignRow,
hv_HeadSignCol, hv_HeadPhi, hv_WindowHandle, out hv_sign);
//** DISPLAY
//* DISPLAY BARCODE 显示条形码
hDevelo.set_display_font(hv_ExpDefaultWinHandle, 14, "mono", "true", "false");
HOperatorSet.SetDraw(hv_ExpDefaultWinHandle, "margin");
HOperatorSet.SetLineWidth(hv_ExpDefaultWinHandle, 3);
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "forest green");
HOperatorSet.DispObj(ho_SymbolRegions, hv_ExpDefaultWinHandle);
for (hv_BarIndex = 1; (int)hv_BarIndex <= (int)(new HTuple(hv_DecodedDataStrings.TupleLength()
)); hv_BarIndex = (int)hv_BarIndex + 1)
{
ho_ObjectSelected.Dispose();
HOperatorSet.SelectObj(ho_SymbolRegions, out ho_ObjectSelected, hv_BarIndex);
hv_Area.Dispose(); hv_Row.Dispose(); hv_Column.Dispose();
HOperatorSet.AreaCenter(ho_ObjectSelected, out hv_Area, out hv_Row, out hv_Column);
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
HOperatorSet.SetTposition(hv_ExpDefaultWinHandle, hv_Row - hv_BarHeight,
hv_Column - (0.25 * hv_BarWidth));
}
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
HOperatorSet.WriteString(hv_ExpDefaultWinHandle, hv_DecodedDataStrings.TupleSelect(
hv_BarIndex - 1));
}
}
//* DISPLAY LOC
HOperatorSet.SetLineWidth(hv_ExpDefaultWinHandle, 1);
//* Info:
hv_InfoHomMat2D.Dispose();
HOperatorSet.HomMat2dIdentity(out hv_InfoHomMat2D);
{
HTuple ExpTmpOutVar_0;
HOperatorSet.HomMat2dRotate(hv_InfoHomMat2D, hv_InfoAngle, 0, 0, out ExpTmpOutVar_0);
hv_InfoHomMat2D.Dispose();
hv_InfoHomMat2D = ExpTmpOutVar_0;
}
{
HTuple ExpTmpOutVar_0;
HOperatorSet.HomMat2dTranslate(hv_InfoHomMat2D, hv_InfoRow, hv_InfoColumn,
out ExpTmpOutVar_0);
hv_InfoHomMat2D.Dispose();
hv_InfoHomMat2D = ExpTmpOutVar_0;
}
ho_InfoTransContours.Dispose();
HOperatorSet.AffineTransContourXld(ho_InfoModelContours, out ho_InfoTransContours,
hv_InfoHomMat2D);
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "green");
HOperatorSet.DispObj(ho_InfoTransContours, hv_ExpDefaultWinHandle);
//* Ocr
//dev_disp_text (Ocr_Split, 'image', IDRow1 + IDHeight, IDColumn1, 'blue', [], []) 开发显示文本
//* HeadSign
hv_SignHomMat2D.Dispose();
HOperatorSet.HomMat2dIdentity(out hv_SignHomMat2D);
{
HTuple ExpTmpOutVar_0;
HOperatorSet.HomMat2dRotate(hv_SignHomMat2D, hv_SignAngle, 0, 0, out ExpTmpOutVar_0);
hv_SignHomMat2D.Dispose();
hv_SignHomMat2D = ExpTmpOutVar_0;
}
{
HTuple ExpTmpOutVar_0;
HOperatorSet.HomMat2dTranslate(hv_SignHomMat2D, hv_SignRow, hv_SignColumn,
out ExpTmpOutVar_0);
hv_SignHomMat2D.Dispose();
hv_SignHomMat2D = ExpTmpOutVar_0;
}
ho_SignTransContours.Dispose();
HOperatorSet.AffineTransContourXld(ho_SignModelContours, out ho_SignTransContours,
hv_SignHomMat2D);
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "green");
HOperatorSet.DispObj(ho_SignTransContours, hv_ExpDefaultWinHandle);
//* Sign
HOperatorSet.SetColored(hv_ExpDefaultWinHandle, 12);
HOperatorSet.DispObj(ho_EDGE, hv_ExpDefaultWinHandle);
//dump_window_image (ImageResult, WindowHandle) 转储窗口图像
// 手动保存图片和数据
if (ImgAuto.state == ImgAutoState.imgAutoFalse && SaveData.state == SaveDataState.saveDataTrue)
{
// 时间
string ScanDate = DateTime.Now.ToString("yyyyMMddHHmmssfff");
MainFormDAL mainFormDAL = new MainFormDAL();
ImgHelper imgHelper = new ImgHelper();
// 保存图片
imgHelper.SaveImg(ScanDate, ho_Image);
SaveData.state = SaveDataState.saveDataFalse;
// 保存数据
UsedInfo usedInfo;
usedInfo = mainFormDAL.ConvertStruct(hv_Ocr_Split, hv_DecodedDataStrings, hv_sign);
mainFormDAL.SaveTemp(usedInfo, ScanDate);
imgNumber = imgNumber + 1;
usedInfo.ImgCount = imgNumber;
}
;
// 自动保存图片和数据
if (ImgAuto.state == ImgAutoState.imgAutoTrue)
{
// 时间
string ScanDate = DateTime.Now.ToString("yyyyMMddHHmmssfff");
MainFormDAL mainFormDAL = new MainFormDAL();
ImgHelper imgHelper = new ImgHelper();
// 保存图片
imgHelper.SaveImg(ScanDate, ho_Image);
SaveData.state = SaveDataState.saveDataFalse;
// 保存数据
UsedInfo usedInfo;
usedInfo = mainFormDAL.ConvertStruct(hv_Ocr_Split, hv_DecodedDataStrings, hv_sign);
mainFormDAL.SaveTemp(usedInfo, ScanDate);
imgNumber += imgNumber;
usedInfo.ImgCount = imgNumber;
Thread.Sleep(5000);
}
//stop ()
}
// catch (Exception)
catch (HalconException HDevExpDefaultException1)
{
HDevExpDefaultException1.ToHTuple(out hv_Exception);
}
}
HOperatorSet.CloseFramegrabber(hv_AcqHandle);
}
catch (HalconException HDevExpDefaultException)
{
ho_InfoModelContours.Dispose();
ho_SignModelContours.Dispose();
ho_Image.Dispose();
ho_SymbolRegions.Dispose();
ho_ROI_OCR_01_0.Dispose();
ho_EDGE.Dispose();
ho_ObjectSelected.Dispose();
ho_InfoTransContours.Dispose();
ho_SignTransContours.Dispose();
hv_BarWidth.Dispose();
hv_BarHeight.Dispose();
hv_BarCodeHandle.Dispose();
hv_InfoModel.Dispose();
hv_SignModel.Dispose();
hv_WindowHandle.Dispose();
hv_AcqHandle.Dispose();
hv_InfoRow.Dispose();
hv_InfoColumn.Dispose();
hv_InfoAngle.Dispose();
hv_InfoScore.Dispose();
hv_DecodedDataStrings.Dispose();
hv_someitem.Dispose();
hv_SignRow.Dispose();
hv_SignColumn.Dispose();
hv_SignAngle.Dispose();
hv_SignScore.Dispose();
hv_SymbolNames_OCR_01_0.Dispose();
hv_Ocr_Split.Dispose();
hv_Area.Dispose();
hv_IDRow.Dispose();
hv_IDColumn.Dispose();
hv_IDRow1.Dispose();
hv_IDColumn1.Dispose();
hv_IDRow2.Dispose();
hv_IDColumn2.Dispose();
hv_IDHeight.Dispose();
hv_IDWidth.Dispose();
hv_IDRatio.Dispose();
hv_HeadSignScale.Dispose();
hv_HeadSignRow.Dispose();
hv_HeadSignCol.Dispose();
hv_HeadPhi.Dispose();
hv_sign.Dispose();
hv_BarIndex.Dispose();
hv_Row.Dispose();
hv_Column.Dispose();
hv_InfoHomMat2D.Dispose();
hv_SignHomMat2D.Dispose();
hv_Exception.Dispose();
throw HDevExpDefaultException;
}
ho_InfoModelContours.Dispose();
ho_SignModelContours.Dispose();
ho_Image.Dispose();
ho_SymbolRegions.Dispose();
ho_ROI_OCR_01_0.Dispose();
ho_EDGE.Dispose();
ho_ObjectSelected.Dispose();
ho_InfoTransContours.Dispose();
ho_SignTransContours.Dispose();
hv_BarWidth.Dispose();
hv_BarHeight.Dispose();
hv_BarCodeHandle.Dispose();
hv_InfoModel.Dispose();
hv_SignModel.Dispose();
hv_WindowHandle.Dispose();
hv_AcqHandle.Dispose();
hv_InfoRow.Dispose();
hv_InfoColumn.Dispose();
hv_InfoAngle.Dispose();
hv_InfoScore.Dispose();
hv_DecodedDataStrings.Dispose();
hv_someitem.Dispose();
hv_SignRow.Dispose();
hv_SignColumn.Dispose();
hv_SignAngle.Dispose();
hv_SignScore.Dispose();
hv_SymbolNames_OCR_01_0.Dispose();
hv_Ocr_Split.Dispose();
hv_Area.Dispose();
hv_IDRow.Dispose();
hv_IDColumn.Dispose();
hv_IDRow1.Dispose();
hv_IDColumn1.Dispose();
hv_IDRow2.Dispose();
hv_IDColumn2.Dispose();
hv_IDHeight.Dispose();
hv_IDWidth.Dispose();
hv_IDRatio.Dispose();
hv_HeadSignScale.Dispose();
hv_HeadSignRow.Dispose();
hv_HeadSignCol.Dispose();
hv_HeadPhi.Dispose();
hv_sign.Dispose();
hv_BarIndex.Dispose();
hv_Row.Dispose();
hv_Column.Dispose();
hv_InfoHomMat2D.Dispose();
hv_SignHomMat2D.Dispose();
hv_Exception.Dispose();
}
private void action()
{
// Stack for temporary objects
HObject[] OTemp = new HObject[20];
long SP_O = 0;
// Local iconic variables
HObject ho_Circle, region;
HObject ho_SelectedRegions, ho_outCircle;
// Local control variables
//HTuple hv_blackOrwhite, hv_threshold_value;
//HTuple hv_method, hv_andOror, hv_method_min_value, hv_method_max_value;
HTuple hv_outer_Row, hv_outer_Column;
HTuple hv_outer_Radius, hv_Circularity;
HTuple hv_Number = new HTuple(), hv_result = new HTuple();
// Initialize local and output iconic variables
//HOperatorSet.GenEmptyObj(out ho_Image);
HOperatorSet.GenEmptyObj(out ho_Circle);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
HOperatorSet.GenEmptyObj(out ho_outCircle);
HOperatorSet.GenEmptyObj(out region);
try
{
//HOperatorSet.SetColor(this.LWindowHandle, "green");
// out hv_Radius);
ho_Circle.Dispose();
HOperatorSet.GenCircle(out ho_Circle, DCenterRow, DCenterColumn, DRadius);
HOperatorSet.Intersection(ho_Circle, algorithm.Region, out region);
region_outer_circle(region, out ho_outCircle, out hv_outer_Row,
out hv_outer_Column, out hv_outer_Radius, out hv_Circularity);
//HOperatorSet.DispObj(ho_outCircle, this.LWindowHandle);
RegionToDisp.Dispose();
if (!RegionToDisp.IsInitialized())
{
HOperatorSet.CopyObj(ho_outCircle, out RegionToDisp, 1, 1);
}
else
{
HOperatorSet.ConcatObj(ho_outCircle, RegionToDisp, out RegionToDisp);
}
//RegionToDisp
HOperatorSet.CountObj(ho_outCircle, out hv_Number);
if ((int)(new HTuple(hv_Number.TupleEqual(1))) != 0)
{
hv_result = hv_result.TupleConcat("center_row");
hv_result = hv_result.TupleConcat(hv_outer_Row * pixeldist);
hv_result = hv_result.TupleConcat("center_column");
hv_result = hv_result.TupleConcat(hv_outer_Column * pixeldist);
hv_result = hv_result.TupleConcat("diameter");
hv_result = hv_result.TupleConcat(2 * hv_outer_Radius * pixeldist);
hv_result = hv_result.TupleConcat("circularity");
hv_result = hv_result.TupleConcat(hv_Circularity);
result = hv_result.Clone();
}
else
{
hv_result = hv_result.TupleConcat("center_row");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("center_column");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("diameter");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("circularity");
hv_result = hv_result.TupleConcat(0);
result = hv_result.Clone();
}
}
catch (HalconException HDevExpDefaultException)
{
this.Result = new HTuple();
MyDebug.ShowMessage("CircleToolsError:=" + HDevExpDefaultException);
hv_result = hv_result.TupleConcat("center_row");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("center_column");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("diameter");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("circularity");
hv_result = hv_result.TupleConcat(0);
result = hv_result.Clone();
}
finally
{
ho_Circle.Dispose();
region.Dispose();
ho_SelectedRegions.Dispose();
ho_outCircle.Dispose();
algorithm.Region.Dispose();
}
}
//Circle****************************************************************************************
/// <summary>
/// 找圆-使用ROI-RectangleRegion
/// </summary>
/// <param name="img">图片</param>
/// <param name="rectRoi">ROI</param>
/// <param name="MinRadius">最小半径</param>
/// <param name="MaxRadius">最大半径</param>
/// <param name="Center">中心点</param>
/// <param name="Radius">半径</param>
/// <param name="ho_Contcircle">圆轮廓</param>
/// <param name="ho_cross">圆中心</param>
/// <returns></returns>
public static bool DetectCircle(HObject img, RectangleContour rectRoi, double MinRadius, double MaxRadius, out PointF Center, out double Radius, out HObject ho_Contcircle, out HObject ho_cross)
{
//*************************************************************************************************
ho_Contcircle = null;
ho_cross = null;
Center = new PointF();
Radius = 0;
HObject ho_ImageROI, Roi, hCircles, countour;
HOperatorSet.GenEmptyObj(out ho_ImageROI);
HOperatorSet.GenEmptyObj(out hCircles);
HOperatorSet.GenEmptyObj(out countour);
HOperatorSet.GenRectangle1(out Roi, rectRoi.Left, rectRoi.Top, rectRoi.Left + rectRoi.Height, rectRoi.Width);
//*************************************************************************************************
HTuple hv_numbers, CoutourType;//返回拟合圆个数
try
{
HOperatorSet.ReduceDomain(img, Roi, out ho_ImageROI); //获取图像区域 形态学处理后
HOperatorSet.EdgesSubPix(ho_ImageROI, out ho_ImageROI, "canny", 1.5, 50, 75);
HOperatorSet.SegmentContoursXld(ho_ImageROI, out ho_ImageROI, "lines_circles", 5, 4, 2);
HOperatorSet.SelectShapeXld(ho_ImageROI, out ho_ImageROI, "circularity", "and", 0.5, 1);
HOperatorSet.SelectShapeXld(ho_ImageROI, out ho_ImageROI, "outer_radius", "and", MinRadius, MaxRadius);
HOperatorSet.CountObj(ho_ImageROI, out hv_numbers);
if (hv_numbers.D != 0)
{
for (int i = 0; i < hv_numbers.D; i++)
{
HOperatorSet.SelectObj(ho_ImageROI, out countour, i);
HOperatorSet.GetContourAttribXld(countour, "cont_approx", out CoutourType);
if (CoutourType.D != -1)//-1=line 0- 1-circle
{
HOperatorSet.ConcatObj(hCircles, countour, out hCircles);
}
}
HOperatorSet.CountObj(hCircles, out hv_numbers);
if (hv_numbers.D == 0)
{
Roi.Dispose();
ho_ImageROI.Dispose();
hCircles.Dispose();
countour.Dispose();
return(false);
}
HTuple hv_Row, hv_Column, hv_Radius, hv_startPhi, hv_endPhi, hv_PointOrder;
HOperatorSet.FitCircleContourXld(hCircles, "geometric", -1, 2, 0, 3, 2, out hv_Row, out hv_Column, out hv_Radius, out hv_startPhi, out hv_endPhi, out hv_PointOrder);
hv_numbers = new HTuple(hv_Row.TupleLength());
if (hv_numbers.D == 0)
{
Roi.Dispose();
ho_ImageROI.Dispose();
hCircles.Dispose();
countour.Dispose();
return(false);
}
Center.X = (float)(hv_Column[0].D);
Center.Y = (float)(hv_Row[0].D);
Radius = hv_Radius[0].D;
HOperatorSet.GenCircleContourXld(out ho_Contcircle, hv_Row[0], hv_Column[0], hv_Radius[0], 0, 6.28, "positive", 1);
HOperatorSet.GenCrossContourXld(out ho_cross, hv_Row[0], hv_Column[0], 10, 0);
Roi.Dispose();
ho_ImageROI.Dispose();
hCircles.Dispose();
countour.Dispose();
return(true);
}
else
{
Roi.Dispose();
ho_ImageROI.Dispose();
hCircles.Dispose();
countour.Dispose();
return(false);
}
}
catch
{
Roi.Dispose();
ho_ImageROI.Dispose();
hCircles.Dispose();
countour.Dispose();
return(false);
}
}
public HObjectWithColor(HObject _hbj, string _color, string _drow)
{
hObject = _hbj;
color = _color;
draw = _drow;
}
public void setImage(HObject obj)
{
Image = obj;
HOperatorSet.GetImageSize(obj, out ImageWidth, out ImageHeight);
}
///<summary>
///初始化函数
///</summary>
public void Initialization()
{
FittingLine = new FittingLine();
ImageProcessing = new ImageProcessing();
hv_MeasureRow1 = new HTuple();
hv_MeasureColumn1 = new HTuple();
hv_MeasureRow2 = new HTuple();
hv_MeasureColumn2 = new HTuple();
hv_MeasureLength2 = new HTuple();
hv_MeasureDistance = new HTuple();
hv_MetrologyHandle = new HTuple();
hv_MeasureLength1 = 20;
hv_MeasureSigma = 1.0;
hv_MeasureThreshold = 30;
hv_MeasureInterpolation = "bicubic"; //插值类型
hv_MeasureTransition = "positive"; //明暗方向
hv_MeasureSelect = "first"; //边缘选取
hv_MeasurePointsNum = 20; //Roi数量
hv_MeasureMinScore = 0.3; //最低得分
hv_MeasureNumInstances = 1; //直线拟合数量
hv_MeasureDistThreshold = 2; //距离剔除
hv_MaxNumIterations = -1; //迭代次数
hv_MeasureIORegions = "false"; //对测量结果的验证
hv_ImageProcessing = "None"; //对图像预处理
hv_MaskWidth = 1; //均值滤波宽度
hv_MaskHeight = 10; //均值滤波高度
hv_MaskType = "square"; //中值滤波形状
hv_Radius = 10; //中值滤波半径
hv_MaskSize = 7; //Laplace滤波模型大小
hv_FilterMask = "n_4"; //Laplace滤波模型
hv_MultImage_Mult = 0.03; //图像乘法增益
hv_AddImage_Mult = 0.8; //图像加法增益
hv_ScaleImage_Add = 0; //阈值拉伸偏移
hv_ScaleImage_Mult = 2; //阈值拉伸增益
hv_Index = null;
DetectLineFlag = false;
ho_Contours = null;
ho_Cross = null;
hv_CrossRow = null;
hv_CrossColumn = null;
ho_RegionLines = null;
xmlRW = new XmlRW();
hv_LineRowBegin = 0; //拟合直线像素坐标
hv_LineColumnBegin = 0;
hv_LineRowEnd = 0;
hv_LineColumnEnd = 0;
hv_LineRowBegin_Real = 0; //拟合直线实际坐标
hv_LineColumnBegin_Real = 0;
hv_LineRowEnd_Real = 0;
hv_LineColumnEnd_Real = 0;
RefreshParams();
}
// Procedures
// External procedures
// Chapter: Develop
// Short Description: Open a new graphics window that preserves the aspect ratio of the given image.
public void dev_open_window_fit_image(HObject ho_Image, HTuple hv_Row, HTuple hv_Column,
HTuple hv_WidthLimit, HTuple hv_HeightLimit, out HTuple hv_WindowHandle)
{
// Local iconic variables
// Local control variables
HTuple hv_MinWidth = new HTuple(), hv_MaxWidth = new HTuple();
HTuple hv_MinHeight = new HTuple(), hv_MaxHeight = new HTuple();
HTuple hv_ResizeFactor = null, hv_ImageWidth = null, hv_ImageHeight = null;
HTuple hv_TempWidth = null, hv_TempHeight = null, hv_WindowWidth = null;
HTuple hv_WindowHeight = null;
// Initialize local and output iconic variables
//This procedure opens a new graphics window and adjusts the size
//such that it fits into the limits specified by WidthLimit
//and HeightLimit, but also maintains the correct image aspect ratio.
//
//If it is impossible to match the minimum and maximum extent requirements
//at the same time (f.e. if the image is very long but narrow),
//the maximum value gets a higher priority,
//
//Parse input tuple WidthLimit
if (hv_WidthLimit.TupleLength() == 0 || hv_WidthLimit.TupleLess(0))
{
hv_MinWidth = 500;
hv_MaxWidth = 800;
}
else if (hv_WidthLimit.TupleLength() == 1)
{
hv_MinWidth = 0;
hv_MaxWidth = hv_WidthLimit.Clone();
}
else
{
hv_MinWidth = hv_WidthLimit.TupleSelect(0);
hv_MaxWidth = hv_WidthLimit.TupleSelect(1);
}
//Parse input tuple HeightLimit
if (hv_HeightLimit.TupleLength() == 0 || hv_HeightLimit.TupleLess(0))
{
hv_MinHeight = 400;
hv_MaxHeight = 600;
}
else if (hv_HeightLimit.TupleLength() == 1)
{
hv_MinHeight = 0;
hv_MaxHeight = hv_HeightLimit.Clone();
}
else
{
hv_MinHeight = hv_HeightLimit.TupleSelect(0);
hv_MaxHeight = hv_HeightLimit.TupleSelect(1);
}
//
//Test, if window size has to be changed.
hv_ResizeFactor = 1;
HOperatorSet.GetImageSize(ho_Image, out hv_ImageWidth, out hv_ImageHeight);
//First, expand window to the minimum extents (if necessary).
//if (hv_MinWidth.TupleGreater(hv_ImageWidth)||hv_MinHeight.TupleGreater(hv_ImageHeight))
if (hv_MinWidth > hv_ImageWidth || hv_MinHeight > hv_ImageHeight)
{
hv_ResizeFactor = (((((hv_MinWidth.TupleReal()) / hv_ImageWidth)).TupleConcat(
(hv_MinHeight.TupleReal()) / hv_ImageHeight))).TupleMax();
}
hv_TempWidth = hv_ImageWidth * hv_ResizeFactor;
hv_TempHeight = hv_ImageHeight * hv_ResizeFactor;
//Then, shrink window to maximum extents (if necessary).
if (hv_MaxWidth.TupleLess(hv_TempWidth) || hv_MaxHeight.TupleLess(hv_TempHeight))
{
hv_ResizeFactor = hv_ResizeFactor * ((((((hv_MaxWidth.TupleReal()) / hv_TempWidth)).TupleConcat(
(hv_MaxHeight.TupleReal()) / hv_TempHeight))).TupleMin());
}
hv_WindowWidth = hv_ImageWidth * hv_ResizeFactor;
hv_WindowHeight = hv_ImageHeight * hv_ResizeFactor;
//Resize window
HOperatorSet.SetWindowAttr("background_color", "black");
HOperatorSet.OpenWindow(hv_Row, hv_Column, hv_WindowWidth, hv_WindowHeight, 0, "visible", "", out hv_WindowHandle);
HDevWindowStack.Push(hv_WindowHandle);
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetPart(HDevWindowStack.GetActive(), 0, 0, hv_ImageHeight - 1, hv_ImageWidth - 1);
}
return;
}
public MeasureResult Action()
{
#region 輸出結果
CircleResult mResult = null;
#endregion
// Local iconic variables
HObject ho_R5_Circle = null;
HObject ho_R5_ROI_Image = null, ho_R5_Region = null, ho_R5_ImageReduced = null;
HObject ho_R5_Edges = null, ho_R5_ContoursSplit = null, ho_R5_SingleSegment = null;
HObject ho_R5_ContEllipse = null;
// Local control variables
HTuple hv_msgOffsetY, hv_msgOffsetX;
HTuple hv_STD_Row;
HTuple hv_STD_Col, hv_Img_Row, hv_Img_Col, hv_Img_Rotate_Angle;
HTuple hv_OffsetRow, hv_OffsetCol, hv_R5_R;
HTuple hv_STD_R5_Row = new HTuple(), hv_STD_R5_Col = new HTuple();
HTuple hv_STD_R5_V_Row = new HTuple(), hv_STD_R5_V_Col = new HTuple();
HTuple hv_R5_X = new HTuple(), hv_R5_Y = new HTuple(), hv_R5_Pos_Row = new HTuple();
HTuple hv_R5_Pos_Col = new HTuple(), hv_alpha = new HTuple();
HTuple hv_R5_low = new HTuple(), hv_R5_high = new HTuple();
HTuple hv_R5_NumSegments = new HTuple(), hv_NumCircles = new HTuple();
HTuple hv_Num_Circle_Point = new HTuple(), hv_R5 = new HTuple();
HTuple hv_i = new HTuple(), hv_Attrib = new HTuple(), hv_R5_Row = new HTuple();
HTuple hv_R5_Column = new HTuple(), hv_R5_Radius = new HTuple();
HTuple hv_R5_StartPhi = new HTuple(), hv_R5_EndPhi = new HTuple();
HTuple hv_R5_PointOrder = new HTuple(), hv_R5_MinDist = new HTuple();
HTuple hv_R5_MaxDist = new HTuple(), hv_R5_AvgDist = new HTuple();
HTuple hv_R5_SigmaDist = new HTuple();
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_R5_Circle);
HOperatorSet.GenEmptyObj(out ho_R5_ROI_Image);
HOperatorSet.GenEmptyObj(out ho_R5_Region);
HOperatorSet.GenEmptyObj(out ho_R5_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_R5_Edges);
HOperatorSet.GenEmptyObj(out ho_R5_ContoursSplit);
HOperatorSet.GenEmptyObj(out ho_R5_SingleSegment);
HOperatorSet.GenEmptyObj(out ho_R5_ContEllipse);
//Measure: SDMS_R5
//Author: John Hsieh
//Date: 2012
// dev_update_off(...); only in hdevelop
HOperatorSet.SetSystem("border_shape_models", "false");
//****Message Args
hv_msgOffsetY = 100;
hv_msgOffsetX = 100;
//****Model Args
//STD 中心點
hv_STD_Row = 772;
hv_STD_Col = 1003;
//目前圖形 中心點
hv_Img_Row = hv_AllModelRow.Clone();
hv_Img_Col = hv_AllModelColumn.Clone();
//目前圖形 Rotate Angle
hv_Img_Rotate_Angle = hv_AllModelAngle.Clone();
//目前圖形偏移量
hv_OffsetRow = hv_Img_Row - hv_STD_Row;
hv_OffsetCol = hv_Img_Col - hv_STD_Col;
//****Display
if (HDevWindowStack.IsOpen())
{
HOperatorSet.ClearWindow(HDevWindowStack.GetActive());
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_Image, HDevWindowStack.GetActive());
}
//*****R5
hv_R5_R = 29;
//STD R5_ 位置
hv_STD_R5_Row = 1281;
hv_STD_R5_Col = 1388;
//STD 向量 STD_R5_
hv_STD_R5_V_Row = hv_STD_R5_Row - hv_STD_Row;
hv_STD_R5_V_Col = hv_STD_R5_Col - hv_STD_Col;
//R5_X, R5_Y 分量
hv_R5_X = (hv_STD_R5_V_Col * (hv_Img_Rotate_Angle.TupleCos())) + (hv_STD_R5_V_Row * (hv_Img_Rotate_Angle.TupleSin()
));
hv_R5_Y = (hv_STD_R5_V_Row * (hv_Img_Rotate_Angle.TupleCos())) - (hv_STD_R5_V_Col * (hv_Img_Rotate_Angle.TupleSin()
));
//目前圖形 R5 位置
hv_R5_Pos_Row = (hv_STD_Row + hv_R5_Y) + hv_OffsetRow;
hv_R5_Pos_Col = (hv_STD_Col + hv_R5_X) + hv_OffsetCol;
//** 開始計算
ho_R5_Circle.Dispose();
HOperatorSet.GenCircle(out ho_R5_Circle, hv_R5_Pos_Row, hv_R5_Pos_Col, hv_R5_R);
ho_R5_ROI_Image.Dispose();
HOperatorSet.ReduceDomain(ho_Image, ho_R5_Circle, out ho_R5_ROI_Image);
ho_R5_Region.Dispose();
HOperatorSet.FastThreshold(ho_R5_ROI_Image, out ho_R5_Region, 100, 255, 15);
ho_R5_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(ho_R5_ROI_Image, ho_R5_Region, out ho_R5_ImageReduced
);
//stop ()
//sobel_fast 具有較寬的選擇範圍，搭配 alpha 參數 (alpha 越大, 容錯範圍大)
hv_alpha = 0.9;
hv_R5_low = 20;
hv_R5_high = 60;
ho_R5_Edges.Dispose();
HOperatorSet.EdgesSubPix(ho_R5_ImageReduced, out ho_R5_Edges, "sobel_fast",
hv_alpha, hv_R5_low, hv_R5_high);
//stop ()
//*所有的數值越小，表示容錯範圍大，反之亦然
ho_R5_ContoursSplit.Dispose();
HOperatorSet.SegmentContoursXld(ho_R5_Edges, out ho_R5_ContoursSplit, "lines_circles",
17, 4, 2);
//Display the results
//===========================================================
HOperatorSet.CountObj(ho_R5_ContoursSplit, out hv_R5_NumSegments);
hv_NumCircles = 0;
hv_Num_Circle_Point = 0;
hv_R5 = 999;
for (hv_i = 1; hv_i.Continue(hv_R5_NumSegments, 1); hv_i = hv_i.TupleAdd(1))
{
ho_R5_SingleSegment.Dispose();
HOperatorSet.SelectObj(ho_R5_ContoursSplit, out ho_R5_SingleSegment, hv_i);
HOperatorSet.GetContourGlobalAttribXld(ho_R5_SingleSegment, "cont_approx",
out hv_Attrib);
if ((int)(new HTuple(hv_Attrib.TupleEqual(1))) != 0)
{
HOperatorSet.FitCircleContourXld(ho_R5_SingleSegment, "atukey", -1, 2,
hv_Num_Circle_Point, 5, 2, out hv_R5_Row, out hv_R5_Column, out hv_R5_Radius,
out hv_R5_StartPhi, out hv_R5_EndPhi, out hv_R5_PointOrder);
ho_R5_ContEllipse.Dispose();
HOperatorSet.GenEllipseContourXld(out ho_R5_ContEllipse, hv_R5_Row, hv_R5_Column,
0, hv_R5_Radius, hv_R5_Radius, 0, (new HTuple(360)).TupleRad(), "positive",
1.0);
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_R5_ContEllipse, HDevWindowStack.GetActive());
}
HOperatorSet.DistEllipseContourXld(ho_R5_SingleSegment, "algebraic", -1,
0, hv_R5_Row, hv_R5_Column, 0, hv_R5_Radius, hv_R5_Radius, out hv_R5_MinDist,
out hv_R5_MaxDist, out hv_R5_AvgDist, out hv_R5_SigmaDist);
hv_NumCircles = hv_NumCircles + 1;
if ((int)(new HTuple(hv_R5.TupleGreater(hv_R5_Radius))) != 0)
{
hv_R5 = hv_R5_Radius.Clone();
mResult = new CircleResult()
{
Row = new HTuple(hv_R5_Row),
Col = new HTuple(hv_R5_Column),
Radius = new HTuple(hv_R5_Radius),
StartPhi = new HTuple(hv_R5_StartPhi),
EndPhi = new HTuple(hv_R5_EndPhi),
PointOrder = new HTuple(hv_R5_PointOrder),
};
//HOperatorSet.SetTposition(hv_WindowHandle, (hv_R5_Pos_Row - hv_msgOffsetY) - 50,
// hv_R5_Pos_Col - hv_msgOffsetX);
//HOperatorSet.WriteString(hv_WindowHandle, "R5");
}
}
}
ho_R5_Circle.Dispose();
ho_R5_ROI_Image.Dispose();
ho_R5_Region.Dispose();
ho_R5_ImageReduced.Dispose();
ho_R5_Edges.Dispose();
ho_R5_ContoursSplit.Dispose();
ho_R5_SingleSegment.Dispose();
ho_R5_ContEllipse.Dispose();
return(mResult);
}
public void GetContempPic()
{
Image = engine.GetGlobalIconicVarObject("ContempPic");
}
// Procedures
// Local procedures
public void EnhanceEdgeArea4(HObject ho_InputImage, out HObject ho_EnhancedImage,
out HObject ho_EnhancedEdge, HTuple hv_MeanMaskWidth, HTuple hv_MeanMaskHeight,
HTuple hv_FirstMinGray, HTuple hv_FirstMaxGray, HTuple hv_SortOrder, HTuple hv_EmpMaskWidth,
HTuple hv_EmpMaskHeight, HTuple hv_EmpMaskFactor, HTuple hv_LastMinGray, HTuple hv_LastMaxGray)
{
// Local iconic variables
HObject ho_Domain, ho_ImageMean, ho_Regions;
HObject ho_ConnectedRegions1, ho_SelectedRegions2 = null;
HObject ho_SortedRegions = null, ho_ObjectSelected = null, ho_RegionFillUp;
HObject ho_ImageReduced, ho_ImageScaleMax, ho_ImageMean2;
HObject ho_ImageEmphasize, ho_Regions2, ho_ConnectedRegions;
HObject ho_SelectedRegions = null, ho_RegionDifference;
// Local control variables
HTuple hv_Width = null, hv_Height = null;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_EnhancedImage);
HOperatorSet.GenEmptyObj(out ho_EnhancedEdge);
HOperatorSet.GenEmptyObj(out ho_Domain);
HOperatorSet.GenEmptyObj(out ho_ImageMean);
HOperatorSet.GenEmptyObj(out ho_Regions);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions1);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions2);
HOperatorSet.GenEmptyObj(out ho_SortedRegions);
HOperatorSet.GenEmptyObj(out ho_ObjectSelected);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp);
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_ImageScaleMax);
HOperatorSet.GenEmptyObj(out ho_ImageMean2);
HOperatorSet.GenEmptyObj(out ho_ImageEmphasize);
HOperatorSet.GenEmptyObj(out ho_Regions2);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
HOperatorSet.GenEmptyObj(out ho_RegionDifference);
ho_Domain.Dispose();
HOperatorSet.GetDomain(ho_InputImage, out ho_Domain);
HOperatorSet.RegionFeatures(ho_Domain, "width", out hv_Width);
HOperatorSet.RegionFeatures(ho_Domain, "height", out hv_Height);
ho_ImageMean.Dispose();
HOperatorSet.MeanImage(ho_InputImage, out ho_ImageMean, hv_MeanMaskWidth, hv_MeanMaskHeight);
ho_Regions.Dispose();
HOperatorSet.Threshold(ho_ImageMean, out ho_Regions, hv_FirstMinGray, hv_FirstMaxGray);
ho_ConnectedRegions1.Dispose();
HOperatorSet.Connection(ho_Regions, out ho_ConnectedRegions1);
if ((int)(new HTuple(hv_MeanMaskWidth.TupleGreater(hv_MeanMaskHeight))) != 0)
{
ho_SelectedRegions2.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions1, out ho_SelectedRegions2, "width",
"and", hv_Width * 0.9, hv_Width);
ho_SortedRegions.Dispose();
HOperatorSet.SortRegion(ho_SelectedRegions2, out ho_SortedRegions, "upper_left",
hv_SortOrder, "row");
ho_ObjectSelected.Dispose();
HOperatorSet.SelectObj(ho_SortedRegions, out ho_ObjectSelected, 1);
}
else
{
ho_SelectedRegions2.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions1, out ho_SelectedRegions2, "height",
"and", hv_Height * 0.9, hv_Height);
ho_SortedRegions.Dispose();
HOperatorSet.SortRegion(ho_SelectedRegions2, out ho_SortedRegions, "upper_left",
hv_SortOrder, "column");
ho_ObjectSelected.Dispose();
HOperatorSet.SelectObj(ho_SortedRegions, out ho_ObjectSelected, 1);
}
ho_RegionFillUp.Dispose();
HOperatorSet.FillUp(ho_ObjectSelected, out ho_RegionFillUp);
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(ho_ImageMean, ho_RegionFillUp, out ho_ImageReduced);
ho_ImageScaleMax.Dispose();
HOperatorSet.ScaleImageMax(ho_ImageReduced, out ho_ImageScaleMax);
ho_ImageMean2.Dispose();
HOperatorSet.MeanImage(ho_ImageScaleMax, out ho_ImageMean2, hv_MeanMaskWidth,
hv_MeanMaskHeight);
ho_ImageEmphasize.Dispose();
HOperatorSet.Emphasize(ho_ImageMean2, out ho_ImageEmphasize, hv_EmpMaskWidth,
hv_EmpMaskHeight, hv_EmpMaskFactor);
ho_Regions2.Dispose();
HOperatorSet.Threshold(ho_ImageEmphasize, out ho_Regions2, hv_LastMinGray, hv_LastMaxGray);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_Regions2, out ho_ConnectedRegions);
if ((int)(new HTuple(hv_MeanMaskWidth.TupleGreater(hv_MeanMaskHeight))) != 0)
{
ho_SelectedRegions.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions, "width",
"and", hv_Width * 0.1, hv_Width);
}
else
{
ho_SelectedRegions.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions, "height",
"and", hv_Height * 0.1, hv_Height);
}
ho_EnhancedEdge.Dispose();
HOperatorSet.MoveRegion(ho_SelectedRegions, out ho_EnhancedEdge, 0, 0);
ho_EnhancedImage.Dispose();
HOperatorSet.ChangeDomain(ho_ImageEmphasize, ho_Domain, out ho_EnhancedImage);
ho_RegionDifference.Dispose();
HOperatorSet.Difference(ho_Domain, ho_SelectedRegions, out ho_RegionDifference
);
HOperatorSet.OverpaintRegion(ho_EnhancedImage, ho_RegionDifference, 255, "fill");
ho_Domain.Dispose();
ho_ImageMean.Dispose();
ho_Regions.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions2.Dispose();
ho_SortedRegions.Dispose();
ho_ObjectSelected.Dispose();
ho_RegionFillUp.Dispose();
ho_ImageReduced.Dispose();
ho_ImageScaleMax.Dispose();
ho_ImageMean2.Dispose();
ho_ImageEmphasize.Dispose();
ho_Regions2.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionDifference.Dispose();
return;
}
/// <summary>
/// 预处理图像用于训练或测试
/// </summary>
public void PreprocessImage(string hv_Pretrained_DlClassifierName, HObject ho_Image, out HObject ho_ImagePreprocessed)
{
HTuple hv_DLClassifierHandle = new HTuple();
HOperatorSet.ReadDlClassifier(hv_Pretrained_DlClassifierName, out hv_DLClassifierHandle);
preprocess_dl_classifier_images(ho_Image, out ho_ImagePreprocessed, new HTuple(), new HTuple(), hv_DLClassifierHandle);
}
/// <summary>
/// 模板匹配通用函数，仅匹配
/// </summary>
/// <param name="ho_image"></param>
/// <param name="ho_roi"></param>
/// <param name="ho_show_contour"></param>
/// <param name="ho_update_show_contour"></param>
/// <param name="hv_model_type"></param>
/// <param name="hv_model_id"></param>
/// <param name="hv_angle_start"></param>
/// <param name="hv_angle_extent"></param>
/// <param name="hv_score_thresh"></param>
/// <param name="hv_match_num"></param>
/// <param name="hv_def_row"></param>
/// <param name="hv_def_col"></param>
/// <param name="hv_found_row"></param>
/// <param name="hv_found_col"></param>
/// <param name="hv_found_angle"></param>
/// <param name="hv_found_score"></param>
/// <param name="hv_update_def_row"></param>
/// <param name="hv_update_def_col"></param>
/// <param name="hv_model_H_new"></param>
/// <param name="hv_iFlag"></param>
public static void find_model(HObject ho_image, HObject ho_roi, HObject ho_show_contour,
out HObject ho_update_show_contour, HTuple hv_model_type, HTuple hv_model_id,
HTuple hv_angle_start, HTuple hv_angle_extent, HTuple hv_score_thresh, HTuple hv_match_num,
HTuple hv_def_row, HTuple hv_def_col, out HTuple hv_found_row, out HTuple hv_found_col,
out HTuple hv_found_angle, out HTuple hv_found_score, out HTuple hv_update_def_row,
out HTuple hv_update_def_col, out HTuple hv_model_H_new, out HTuple hv_iFlag)
{
// Stack for temporary objects
HObject[] OTemp = new HObject[20];
// Local iconic variables
HObject ho_complement_region, ho_paint_image;
HObject ho_reduced_image, ho_affine_show_contour = null;
// Local control variables
HTuple hv_inv_model_row = new HTuple(), hv_inv_model_col = new HTuple();
HTuple hv_ncc_numlevs = new HTuple(), hv_angle_step = new HTuple();
HTuple hv_ncc_metric = new HTuple(), hv_local_row = new HTuple();
HTuple hv_local_col = new HTuple(), hv_local_angle = new HTuple();
HTuple hv_local_score = new HTuple(), hv_shape_numlevs = new HTuple();
HTuple hv_shape_scale_min = new HTuple(), hv_shape_scale_max = new HTuple();
HTuple hv_shape_scale_step = new HTuple(), hv_shape_metric = new HTuple();
HTuple hv_shape_min_contrast = new HTuple(), hv_Greatereq = null;
HTuple hv_GreaterInd = null, hv_model_row = new HTuple();
HTuple hv_model_col = new HTuple(), hv_def_row_ind = new HTuple();
HTuple hv_def_col_ind = new HTuple(), hv_i = new HTuple();
HTuple hv_model_H_any = new HTuple(), hv__update_def_row = new HTuple();
HTuple hv__update_def_col = new HTuple(), hv_update_model_row = new HTuple();
HTuple hv_update_model_col = new HTuple();
HTuple hv_angle_extent_COPY_INP_TMP = hv_angle_extent.Clone();
HTuple hv_angle_start_COPY_INP_TMP = hv_angle_start.Clone();
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_update_show_contour);
HOperatorSet.GenEmptyObj(out ho_complement_region);
HOperatorSet.GenEmptyObj(out ho_paint_image);
HOperatorSet.GenEmptyObj(out ho_reduced_image);
HOperatorSet.GenEmptyObj(out ho_affine_show_contour);
hv_update_def_row = new HTuple();
hv_update_def_col = new HTuple();
hv_found_row = new HTuple();
hv_found_col = new HTuple();
hv_found_angle = new HTuple();
hv_found_score = new HTuple();
hv_model_H_new = new HTuple();
hv_iFlag = 0;
ho_update_show_contour.Dispose();
HOperatorSet.GenEmptyObj(out ho_update_show_contour);
HTuple channel;
HOperatorSet.CountChannels(ho_image, out channel);
if (channel.I != 1)
{
HOperatorSet.Rgb1ToGray(ho_image, out ho_image);
}
ho_complement_region.Dispose();
HOperatorSet.Complement(ho_roi, out ho_complement_region);
ho_paint_image.Dispose();
HOperatorSet.PaintRegion(ho_complement_region, ho_image, out ho_paint_image,
255, "fill");
ho_reduced_image.Dispose();
HOperatorSet.ReduceDomain(ho_paint_image, ho_roi, out ho_reduced_image);
//******NCC/bin Ncc
if ((int)(new HTuple(hv_model_type.TupleEqual(0))) != 0)
{
HOperatorSet.GetNccModelOrigin(hv_model_id, out hv_inv_model_row, out hv_inv_model_col);
if ((int)((new HTuple(hv_angle_start_COPY_INP_TMP.TupleEqual(-1))).TupleOr(
new HTuple(hv_angle_extent_COPY_INP_TMP.TupleEqual(-1)))) != 0)
{
HOperatorSet.GetNccModelParams(hv_model_id, out hv_ncc_numlevs, out hv_angle_start_COPY_INP_TMP,
out hv_angle_extent_COPY_INP_TMP, out hv_angle_step, out hv_ncc_metric);
}
else
{
hv_angle_start_COPY_INP_TMP = hv_angle_start_COPY_INP_TMP.TupleRad();
hv_angle_extent_COPY_INP_TMP = hv_angle_extent_COPY_INP_TMP.TupleRad();
}
HOperatorSet.FindNccModel(ho_reduced_image, hv_model_id, hv_angle_start_COPY_INP_TMP,
hv_angle_extent_COPY_INP_TMP, 0.5, hv_match_num, 0.5, "true", 0, out hv_local_row,
out hv_local_col, out hv_local_angle, out hv_local_score);
//******Shape/Shape Xld
}
else
{
HOperatorSet.GetShapeModelOrigin(hv_model_id, out hv_inv_model_row, out hv_inv_model_col);
if ((int)((new HTuple(hv_angle_start_COPY_INP_TMP.TupleEqual(-1))).TupleOr(
new HTuple(hv_angle_extent_COPY_INP_TMP.TupleEqual(-1)))) != 0)
{
HOperatorSet.GetShapeModelParams(hv_model_id, out hv_shape_numlevs, out hv_angle_start_COPY_INP_TMP,
out hv_angle_extent_COPY_INP_TMP, out hv_angle_step, out hv_shape_scale_min,
out hv_shape_scale_max, out hv_shape_scale_step, out hv_shape_metric,
out hv_shape_min_contrast);
}
else
{
hv_angle_start_COPY_INP_TMP = hv_angle_start_COPY_INP_TMP.TupleRad();
hv_angle_extent_COPY_INP_TMP = hv_angle_extent_COPY_INP_TMP.TupleRad();
}
HOperatorSet.FindShapeModel(ho_reduced_image, hv_model_id, hv_angle_start_COPY_INP_TMP,
hv_angle_extent_COPY_INP_TMP, 0.5, hv_match_num, 0.5, "least_squares",
0, 0.9, out hv_local_row, out hv_local_col, out hv_local_angle, out hv_local_score);
}
if ((int)(new HTuple((new HTuple(hv_local_score.TupleLength())).TupleLess(1))) != 0)
{
hv_iFlag = -2;
ho_complement_region.Dispose();
ho_paint_image.Dispose();
ho_reduced_image.Dispose();
ho_affine_show_contour.Dispose();
return;
}
HOperatorSet.TupleGreaterEqualElem(hv_local_score, hv_score_thresh, out hv_Greatereq);
HOperatorSet.TupleFind(hv_Greatereq, 1, out hv_GreaterInd);
if ((int)(new HTuple(hv_GreaterInd.TupleEqual(-1))) != 0)
{
hv_iFlag = -2;
ho_complement_region.Dispose();
ho_paint_image.Dispose();
ho_reduced_image.Dispose();
ho_affine_show_contour.Dispose();
return;
}
else
{
//***获取模板中心坐标
hv_model_row = -hv_inv_model_row;
hv_model_col = -hv_inv_model_col;
HOperatorSet.TupleFind(hv_def_row, -1, out hv_def_row_ind);
HOperatorSet.TupleFind(hv_def_col, -1, out hv_def_col_ind);
for (hv_i = 0; (int)hv_i <= (int)((new HTuple(hv_GreaterInd.TupleLength())) - 1); hv_i = (int)hv_i + 1)
{
HOperatorSet.VectorAngleToRigid(0, 0, 0, hv_local_row.TupleSelect(hv_GreaterInd.TupleSelect(
hv_i)), hv_local_col.TupleSelect(hv_GreaterInd.TupleSelect(hv_i)), hv_local_angle.TupleSelect(
hv_GreaterInd.TupleSelect(hv_i)), out hv_model_H_any);
ho_affine_show_contour.Dispose();
HOperatorSet.AffineTransContourXld(ho_show_contour, out ho_affine_show_contour,
hv_model_H_any);
if ((int)((new HTuple(hv_def_row_ind.TupleEqual(-1))).TupleAnd(new HTuple(hv_def_col_ind.TupleEqual(
-1)))) != 0)
{
HOperatorSet.AffineTransPoint2d(hv_model_H_any, hv_def_row, hv_def_col,
out hv__update_def_row, out hv__update_def_col);
}
else
{
hv__update_def_row = new HTuple();
hv__update_def_col = new HTuple();
}
HOperatorSet.ConcatObj(ho_update_show_contour, ho_affine_show_contour, out OTemp[0]
);
ho_update_show_contour.Dispose();
ho_update_show_contour = OTemp[0];
//*****更新实际的模板坐标
HOperatorSet.AffineTransPoint2d(hv_model_H_any, hv_model_row, hv_model_col,
out hv_update_model_row, out hv_update_model_col);
hv_found_row = hv_found_row.TupleConcat(hv_update_model_row);
hv_found_col = hv_found_col.TupleConcat(hv_update_model_col);
hv_found_angle = hv_found_angle.TupleConcat(((hv_local_angle.TupleSelect(
hv_GreaterInd.TupleSelect(hv_i)))).TupleDeg());
hv_found_score = hv_found_score.TupleConcat(hv_local_score.TupleSelect(hv_GreaterInd.TupleSelect(
hv_i)));
hv_update_def_row = hv_update_def_row.TupleConcat(hv__update_def_row);
hv_update_def_col = hv_update_def_col.TupleConcat(hv__update_def_col);
hv_model_H_new = hv_model_H_new.TupleConcat(hv_model_H_any);
}
}
ho_complement_region.Dispose();
ho_paint_image.Dispose();
ho_reduced_image.Dispose();
ho_affine_show_contour.Dispose();
return;
}
private void action()
{
// Local iconic variables
HObject ho_Circle, ho_Region, ho_ImageReduced, ho_ConnectedRegions, ho_RegionDilation, ho_RegionErosion, ho_RegionDilation1;
HObject ho_SelectedRegions, ho_RegionIntersection = null;
HObject ho_RegionFillUp = null, ho_RegionTrans = null, ho_Circle1 = null;
// Local control variables
HTuple hv_ir = null, hv_yy = null, hv_Distance = null, hv_Sigma = null, hv_Roundness = null, hv_Sides = null;
HTuple hv_Number = null, hv_Row1 = new HTuple(), hv_Column1 = new HTuple();
HTuple hv_Radius1 = new HTuple(), hv_Circularity = new HTuple();
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Circle);
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_Region);
HOperatorSet.GenEmptyObj(out ho_RegionErosion);
HOperatorSet.GenEmptyObj(out ho_RegionDilation);
HOperatorSet.GenEmptyObj(out ho_RegionDilation1);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
HOperatorSet.GenEmptyObj(out ho_RegionIntersection);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp);
HOperatorSet.GenEmptyObj(out ho_RegionTrans);
HOperatorSet.GenEmptyObj(out ho_Circle1);
HOperatorSet.Union1(algorithm.Region, out RegionToDisp);
try
{
ho_Circle.Dispose();
HOperatorSet.GenCircle(out ho_Circle, DCenterRow, DCenterColumn, DRadius);
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(Image, ho_Circle, out ho_ImageReduced);
ho_Region.Dispose();
HOperatorSet.Threshold(ho_ImageReduced, out ho_Region, Dthv, 255);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_Region, out ho_ConnectedRegions);
ho_SelectedRegions.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions, "area",
"and", mjxx, mjsx);
hv_ir = -1;
hv_yy = -1;
HOperatorSet.CountObj(ho_SelectedRegions, out hv_Number);
if ((int)(new HTuple(hv_Number.TupleEqual(1))) != 0)
{
//ho_RegionIntersection.Dispose();
//HOperatorSet.Intersection(ho_Circle, ho_SelectedRegions, out ho_RegionIntersection
// );
ho_RegionFillUp.Dispose();
HOperatorSet.FillUp(ho_SelectedRegions, out ho_RegionFillUp);
ho_RegionTrans.Dispose();
HOperatorSet.ShapeTrans(ho_RegionFillUp, out ho_RegionTrans, "inner_circle");
HOperatorSet.SmallestCircle(ho_RegionTrans, out hv_Row1, out hv_Column1,
out hv_Radius1);
ho_RegionErosion.Dispose();
ho_RegionDilation.Dispose();
ho_RegionDilation1.Dispose();
HOperatorSet.Circularity(ho_RegionFillUp, out hv_Circularity);
HOperatorSet.DilationCircle(ho_RegionFillUp, out ho_RegionDilation1, 15);
HOperatorSet.ErosionCircle(ho_RegionDilation1, out ho_RegionErosion, 40);
HOperatorSet.DilationCircle(ho_RegionErosion, out ho_RegionDilation, 25);
HOperatorSet.Roundness(ho_RegionDilation, out hv_Distance, out hv_Sigma, out hv_Roundness, out hv_Sides);
//shape_trans (RegionFillUp, RegionTrans1, 'outer_circle')
//* smallest_circle (RegionTrans1, Row, Column, Radius)
//* gen_region_line (RegionLines, Row, Column, Row1, Column1)
//* distance_pp (Row1, Column1, Row, Column, Distance1)
//* m := Radius-Radius1
//* n := Distance1
ho_Circle1.Dispose();
HOperatorSet.GenCircle(out ho_Circle1, hv_Row1, hv_Column1, hv_Radius1);
if (hv_Radius1 * 2 * pixeldist >= this.mj && hv_Radius1 * 2 * pixeldist <= this.cd)
{
hv_ir = hv_Radius1 * 2 * pixeldist;
}
else
{
hv_ir = -1;
}
if (hv_Roundness >= this.y1 && hv_Roundness <= this.y2)
{
hv_yy = hv_Roundness;
}
else
{
hv_yy = -1;
}
}
HOperatorSet.Union1(ho_Circle1, out RegionToDisp);
HTuple hv_result = GetHv_result();
hv_result = hv_result.TupleConcat("内圆直径");
hv_result = hv_result.TupleConcat(hv_ir);
hv_result = hv_result.TupleConcat("圆度");
hv_result = hv_result.TupleConcat(hv_yy);
result = hv_result.Clone();
ho_Circle.Dispose();
ho_ImageReduced.Dispose();
ho_Region.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionIntersection.Dispose();
ho_RegionFillUp.Dispose();
ho_RegionTrans.Dispose();
ho_Circle1.Dispose();
ho_RegionErosion.Dispose();
ho_RegionDilation.Dispose();
ho_RegionDilation1.Dispose();
algorithm.Region.Dispose();
}
catch
{
HTuple hv_result = GetHv_result();
hv_result = hv_result.TupleConcat("内圆直径");
hv_result = hv_result.TupleConcat(-1);
hv_result = hv_result.TupleConcat("圆度");
hv_result = hv_result.TupleConcat(-1);
result = hv_result.Clone();
ho_Circle.Dispose();
ho_ImageReduced.Dispose();
ho_Region.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionIntersection.Dispose();
ho_RegionFillUp.Dispose();
ho_RegionTrans.Dispose();
ho_Circle1.Dispose();
ho_RegionErosion.Dispose();
ho_RegionDilation.Dispose();
ho_RegionDilation1.Dispose();
algorithm.Region.Dispose();
}
finally
{
ho_Circle.Dispose();
ho_ImageReduced.Dispose();
ho_Region.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionIntersection.Dispose();
ho_RegionFillUp.Dispose();
ho_RegionTrans.Dispose();
ho_Circle1.Dispose();
ho_RegionErosion.Dispose();
ho_RegionDilation.Dispose();
ho_RegionDilation1.Dispose();
algorithm.Region.Dispose();
}
}
/********************************************************************/
/* GRAPHICSSTACK */
/********************************************************************/
/// <summary>
/// Adds an iconic object to the graphics stack similar to the way
/// it is defined for the HDevelop graphics stack.
/// </summary>
/// <param name="obj">Iconic object</param>
public void addIconicVar(HObject obj)
{
HObjectEntry entry;
if (obj == null)
return;
if (obj is HImage)
{
double r, c;
int h, w, area;
string s;
area = ((HImage)obj).GetDomain().AreaCenter(out r, out c);
((HImage)obj).GetImagePointer1(out s, out w, out h);
if (area == (w * h))
{
clearList();
// MODIFIED
if ((h != heightImagePart) || (w != widthImagePart))
{
heightImagePart = h;
widthImagePart = w;
resetImagePart(widthImagePart, heightImagePart);
}
}//if
}//if
entry = new HObjectEntry(obj, mGC.copyContextList());
HObjList.Add(entry);
if (HObjList.Count > MAXNUMOBJLIST)
HObjList.RemoveAt(1);
}
/*******************************************************************/
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);
}
}
public void Initialize(HImage image, HTuple modelRow, HTuple modelColumn, HTuple modelAngle)
{
ho_Image = image;
hv_AllModelRow = new HTuple(modelRow);
hv_AllModelColumn = new HTuple(modelColumn);
hv_AllModelAngle = new HTuple(modelAngle);
cAssistant = new MeasureAssistant(new ROIController());
}
/// <summary>
/// The object will be pushed to the graphic stack of image
/// display. The objects on the graphic stack will not be
/// displayed automatically. To display the objects on the
/// graphic stack, please call method Refresh.
/// </summary>
/// <param name="obj"> HALCON iconic object </param>
public void AddObjectToGraphicStack(HObject obj)
{
lock (locker)
{
if (obj != null)
{
HObject copyObj = obj.CopyObj(1,-1);
hWndControl.addIconicVarKeepSettings(obj);
}
}
}
public void Object2minipicture(HObject obj)
{
HObject obj_temp;
HOperatorSet.ZoomImageSize(obj, out obj_temp, 100, 100, "constant");
Bitmap = HObject_Bitmap.HObject2Bitmap(obj_temp);
}
/// <summary>
/// Determines whether the calibration image is overexposed
/// </summary>
public void eval_caltab_overexposure(HObject ho_Image,
HObject ho_Caltab,
out HTuple hv_OverexposureScore)
{
// Local iconic variables
HObject ho_ImageReduced, ho_Region;
// Local control variables
HTuple hv_AreaCaltab, hv_Row, hv_Column, hv_AreaOverExp;
HTuple hv_Thresh, hv_Ratio;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_Region);
//returns a measure of the amount of saturation of the plate
hv_OverexposureScore = 0.0;
HOperatorSet.AreaCenter(ho_Caltab, out hv_AreaCaltab, out hv_Row, out hv_Column);
if ((int)((new HTuple(hv_AreaCaltab.TupleEqual(0))).TupleOr(new HTuple(hv_AreaCaltab.TupleEqual(
new HTuple())))) != 0)
{
ho_ImageReduced.Dispose();
ho_Region.Dispose();
return;
}
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(ho_Image, ho_Caltab, out ho_ImageReduced);
ho_Region.Dispose();
HOperatorSet.Threshold(ho_ImageReduced, out ho_Region, 255, 255);
HOperatorSet.AreaCenter(ho_Region, out hv_AreaOverExp, out hv_Row, out hv_Column);
hv_Thresh = 0.15;
hv_Ratio = (hv_AreaOverExp.TupleReal()) / hv_AreaCaltab;
if ((int)(new HTuple(hv_Ratio.TupleLess(hv_Thresh))) != 0)
{
hv_OverexposureScore = (((new HTuple(1.0)).TupleConcat(1 - (hv_Ratio / hv_Thresh)))).TupleMin()
;
}
ho_ImageReduced.Dispose();
ho_Region.Dispose();
return;
}
/// <summary>
/// NCC模板匹配-Roi-HObject
/// </summary>
/// <param name="img"></param>
/// <param name="Roi"></param>
/// <param name="ModelID"></param>
/// <param name="MaxReturns"></param>
/// <param name="MinScore"></param>
/// <param name="MinAngle"></param>
/// <param name="MaxAngle"></param>
/// <param name="MinScal"></param>
/// <param name="MaxScal"></param>
/// <param name="matchresults"></param>
/// <returns></returns>
public static bool FindNccTemplate(VisionImage img, Roi Roi, HTuple ModelID, int MaxReturns, double MinScore, double MinAngle, double MaxAngle, double MinScal, double MaxScal, ref Variable.CamReturn camreturn)//, double MaxOverlap, double Greediness)
{
img.Type = ImageType.U8;
HObject Himage = null, HRoi = null;
HObject imgreduced = null;
HTuple FindRow, FindColumn, FindAngle, FindScore;
try
{
img.BorderWidth = 0;
HOperatorSet.GenImage1(out Himage, "byte", img.Width, img.Height, img.StartPtr);
//HOperatorSet.WriteImage(Himage, "bmp", 0, "D:\\1.bmp");
HOperatorSet.GenRectangle1(out HRoi, ((RectangleContour)Roi[0].Shape).Top, ((RectangleContour)Roi[0].Shape).Left, ((RectangleContour)Roi[0].Shape).Top + ((RectangleContour)Roi[0].Shape).Height, ((RectangleContour)Roi[0].Shape).Left + ((RectangleContour)Roi[0].Shape).Width);
HOperatorSet.ReduceDomain(Himage, HRoi, out imgreduced);//image_rectified
HOperatorSet.FindNccModel(imgreduced, ModelID, (new HTuple(MinAngle)).TupleRad(), (new HTuple(MaxAngle)).TupleRad(), MinScore, MaxReturns, 0.5, "true",
0, out FindRow, out FindColumn, out FindAngle, out FindScore);
if (FindRow.Length == 0)
{
camreturn.X = 0;
camreturn.Y = 0;
camreturn.Angle = 0;
camreturn.IsOK = false;
Himage.Dispose();
HRoi.Dispose();
imgreduced.Dispose();
return(false);
}
else
{
camreturn.X = float.Parse(FindColumn[0].D.ToString());
camreturn.Y = float.Parse(FindRow[0].D.ToString());
camreturn.Angle = FindAngle[0].D;
camreturn.IsOK = true;
Himage.Dispose();
HRoi.Dispose();
imgreduced.Dispose();
return(true);
}
}
catch (Exception a)
{
//PutInLog("玻璃板错误：" + a.Message);
camreturn.X = 0;
camreturn.Y = 0;
camreturn.Angle = 0;
camreturn.IsOK = false;
//HOperatorSet.ClearObj(Himage);
//HOperatorSet.ClearObj(HRoi);
//HOperatorSet.ClearObj(imgreduced);
if (Himage != null)
{
Himage.Dispose();
}
if (HRoi != null)
{
HRoi.Dispose();
}
if (imgreduced != null)
{
imgreduced.Dispose();
}
return(false);
}
}
///<summary>
///图像预处理函数
///</summary>
public void ProcessImage(HObject ho_Image, HTuple hv_CenterRow, HTuple hv_CenterCol, HTuple hv_Phi, HTuple hv_Length1, HTuple hv_Length2, out HObject ho_Image1)
{
try
{
ImageProcessing.ImageCrop(ho_Image, hv_CenterRow, hv_CenterCol, hv_Phi, hv_Length1, hv_Length2,
out HObject ho_Rectangle2, out HObject ho_ImagePart);
ImageProcessing.ImageSharpening(ho_ImagePart, hv_MaskWidth, hv_MaskHeight, hv_MaskType, hv_Radius, hv_MaskSize,
hv_FilterMask, hv_MultImage_Mult, hv_AddImage_Mult, hv_ScaleImage_Mult,
hv_ScaleImage_Add, out HObject ho_ImageResult);
ImageProcessing.ImageStitching(ho_ImageResult, ho_Image, ho_Rectangle2, hv_Phi, hv_Length1, hv_Length2,
hv_CenterRow, hv_CenterCol, out ho_Image1);
ProcessImageflag = true;
}
catch (Exception)
{
ho_Image1 = new HObject();
ProcessImageflag = false;
}
}
//Circle****************************************************************************************
/// <summary>
/// 找圆-使用ROI-RectangleRegion
/// </summary>
/// <param name="img">图片</param>
/// <param name="rectRoi">ROI</param>
/// <param name="MinRadius">最小半径</param>
/// <param name="MaxRadius">最大半径</param>
/// <param name="Center">中心点</param>
/// <param name="Radius">半径</param>
/// <returns></returns>
public static bool DetectCircle(VisionImage img, Roi rectRoi, double MinRadius, double MaxRadius, out PointContour Center, out double Radius)
{
//*************************************************************************************************
Center = new PointContour();
Radius = 0;
HObject ho_Image = new HObject();
HObject ho_ImageROI = new HObject();
HObject Roi = new HObject();
HObject hCircles = new HObject();
HObject countour = new HObject();
img.BorderWidth = 0;
try
{
HOperatorSet.GenImage1(out ho_Image, "byte", img.Width, img.Height, img.StartPtr);
RectangleContour rect = (RectangleContour)rectRoi[0].Shape;
HOperatorSet.GenRectangle1(out Roi, rect.Top,
rect.Left,
rect.Top + rect.Height, rect.Left + rect.Width);
HOperatorSet.ReduceDomain(ho_Image, Roi, out ho_ImageROI); //获取图像区域 形态学处理后
HOperatorSet.EdgesSubPix(ho_ImageROI, out ho_ImageROI, "canny", 1.5, 50, 75);
HOperatorSet.SegmentContoursXld(ho_ImageROI, out ho_ImageROI, "lines_circles", 5, 4, 2);
HOperatorSet.SelectShapeXld(ho_ImageROI, out ho_ImageROI, "outer_radius", "and", MinRadius, MaxRadius);
HOperatorSet.SelectShapeXld(ho_ImageROI, out ho_ImageROI, "circularity", "and", 0.4, 1);
HTuple colY, colX, rad, startPhi, endPhi, pointOrder;
HOperatorSet.FitCircleContourXld(ho_ImageROI, "ahuber", -1, 2, 0, 3, 2,
out colY, out colX, out rad, out startPhi, out endPhi, out pointOrder);
if (colY.Length > 0)
{
Radius = rad[0];
int minIndex = 0;
for (int i = 1; i < colY.Length; i++)
{
// 输出在范围之内最小的半径 和 圆心
if (rad[i] < Radius)
{
minIndex = i;
Radius = rad[i];
}
}
Center.X = (float)(colX[minIndex].D);
Center.Y = (float)(colY[minIndex].D);
ho_Image?.Dispose();
Roi?.Dispose();
ho_ImageROI?.Dispose();
hCircles?.Dispose();
countour?.Dispose();
}
else
{
throw new HalconException("没有扑抓的有效椭圆，请检查半径参数");
}
}
catch (HalconException ex)
{
ho_Image?.Dispose();
Roi?.Dispose();
ho_ImageROI?.Dispose();
hCircles?.Dispose();
countour?.Dispose();
return(false);
}
return(true);
}
/// <summary>
/// Auxiliary method for display purposes. Returns the coordinate system
/// described by the parameters <c>hv_CamParam</c> and <c>hv_Pose</c>
/// as an iconic object.
/// </summary>
public void get_3d_coord_system(HObject ho_ImageReference,
out HObject ho_CoordSystemRegion,
HTuple hv_CamParam,
HTuple hv_Pose,
HTuple hv_CoordAxesLength)
{
// Local iconic variables
HObject ho_CoordSystemImage;
// Local control variables
HTuple hv_Width, hv_Height, hv_OldBG, hv_WindowHandle;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_CoordSystemRegion);
HOperatorSet.GenEmptyObj(out ho_CoordSystemImage);
HOperatorSet.GetImageSize(ho_ImageReference, out hv_Width, out hv_Height);
HOperatorSet.GetWindowAttr("background_color", out hv_OldBG);
HOperatorSet.SetWindowAttr("background_color", "black");
HOperatorSet.OpenWindow(0, 0, hv_Width, hv_Height, 0, "buffer", "", out hv_WindowHandle);
HOperatorSet.SetWindowAttr("background_color", hv_OldBG);
HOperatorSet.SetColor(hv_WindowHandle, "white");
HOperatorSet.SetPart(hv_WindowHandle, 0, 0, hv_Height - 1, hv_Width - 1);
disp_3d_coord_system(hv_WindowHandle, hv_CamParam, hv_Pose, hv_CoordAxesLength);
ho_CoordSystemImage.Dispose();
HOperatorSet.DumpWindowImage(out ho_CoordSystemImage, hv_WindowHandle);
HOperatorSet.CloseWindow(hv_WindowHandle);
ho_CoordSystemRegion.Dispose();
HOperatorSet.Threshold(ho_CoordSystemImage, out ho_CoordSystemRegion, 255, 255);
ho_CoordSystemImage.Dispose();
return;
}
public bool RunThresholdTest(HWndCtrl hWndCtrl, HObject imagein, out HObject hregion)
{
hregion = new HObject();
return(false);
}
/// <summary>
/// Evaluates the sharpness of the calibration plate in the calibration
/// image.
/// </summary>
public void eval_caltab_focus(HObject ho_Image,
HObject ho_Marks,
HTuple hv_Contrast,
out HTuple hv_FocusScore)
{
// Local iconic variables
HObject ho_Region, ho_RegionUnion, ho_ImageReduced;
HObject ho_DerivGauss;
// Local control variables
HTuple hv_Number, hv_MeanGradient, hv_Deviation;
HTuple hv_MinScore, hv_RawResult;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Region);
HOperatorSet.GenEmptyObj(out ho_RegionUnion);
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_DerivGauss);
hv_FocusScore = 0.0;
if ((int)(new HTuple(hv_Contrast.TupleEqual(0))) != 0)
{
ho_Region.Dispose();
ho_RegionUnion.Dispose();
ho_ImageReduced.Dispose();
ho_DerivGauss.Dispose();
return;
}
HOperatorSet.CountObj(ho_Marks, out hv_Number);
if ((int)(new HTuple(hv_Number.TupleLess(3))) != 0)
{
ho_Region.Dispose();
ho_RegionUnion.Dispose();
ho_ImageReduced.Dispose();
ho_DerivGauss.Dispose();
return;
}
ho_Region.Dispose();
HOperatorSet.GenRegionContourXld(ho_Marks, out ho_Region, "margin");
ho_RegionUnion.Dispose();
HOperatorSet.Union1(ho_Region, out ho_RegionUnion);
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(ho_Image, ho_RegionUnion, out ho_ImageReduced);
ho_DerivGauss.Dispose();
HOperatorSet.DerivateGauss(ho_ImageReduced, out ho_DerivGauss, 0.7, "gradient");
HOperatorSet.Intensity(ho_Region, ho_DerivGauss, out hv_MeanGradient, out hv_Deviation);
hv_MinScore = 0.25;
//Normalize the Gradient with the contrast
hv_RawResult = hv_MeanGradient / hv_Contrast;
hv_FocusScore = (((hv_RawResult * 4.5)).TupleSort())[(new HTuple((new HTuple(hv_RawResult.TupleLength()
)) / 20.0)).TupleRound()];
hv_FocusScore = ((((((((hv_FocusScore - hv_MinScore)).TupleConcat(0.0))).TupleMax()
)).TupleConcat(1.0))).TupleMin();
ho_Region.Dispose();
ho_RegionUnion.Dispose();
ho_ImageReduced.Dispose();
ho_DerivGauss.Dispose();
return;
}
/// <summary>
/// 尝试将现有队列中的Fov结果合并为Die结果，并输出
/// （已经被计算合并过的FovResult将不再参与计算）
/// </summary>
/// <returns></returns>
public InspectionData[] DisChargeDieResults()
{
if (null == _fovResults)
{
return(null);
}
List <InspectionData> ret = new List <InspectionData>();
bool isSmallDie = _recipe.DieRowInFov * _recipe.DieColInFov > 0; //一个Fov中是否含有多个Die
if (isSmallDie) //小Die
{
for (int i = 0; i < _fovResults.Length; i++)
{
DlafFovDetectResult fovResult = _fovResults[i];
if (null == fovResult) //fov检测结果还没有输入
{
continue;
}
if (_fovCounteds[i]) //fov检测结果已经被统计过
{
continue;
}
for (int j = 0; j < fovResult.DetectDiesRows.Length; j++)
{
int dieRow = _recipe.DieRowInFov * fovResult.ICRow + fovResult.DetectDiesRows[j]; //料片中的die行列值
int dieCol = _recipe.DieColInFov * fovResult.ICCol + fovResult.DetectDiesCols[j];
InspectionData inspData = new InspectionData();
inspData.RecipeID = _recipeID;
inspData.LotID = _lotID;
inspData.FrameID = _pieceID;
inspData.FovNames = _recipe.FovNames();
inspData.TaskNamesInFovs = new string[inspData.FovNames.Length][];
for (int h = 0; h < inspData.FovNames.Length; h++)
{
inspData.TaskNamesInFovs[h] = _recipe.TaskNames(inspData.FovNames[h]);
}
inspData.Code2D = null;
inspData.ColumnIndex = dieCol;
inspData.RowIndex = dieRow;
if (null == fovResult.DetectDiesImages) //可能无图，（作为工站/界面交互数据）
{
inspData.Image = null;
}
else
{
inspData.Image = fovResult.DetectDiesImages[j].Clone();
}
if (!fovResult.IsDetectSuccess) //图象检测失败
{
inspData.InspectionResult = InspectionResults.NG;
}
else //图象检测成功
{
//金线区域
inspData.Wire = null;
if (null != fovResult.WireRegion)
{
HObject wireRegion = fovResult.WireRegion; //fovResult.DetectIterms["WireRegions"];
string wrieTaskName = fovResult.WireRegionTaskName; //fovResult.DetectItemTaskNames["WireRegions"];
int taskIdx = 0;
for (int h = 0; h < inspData.TaskNamesInFovs[0].Length; h++)
{
if (inspData.TaskNamesInFovs[0][h] == wrieTaskName)
{
taskIdx = h;
break;
}
}
HObject emptyRegion;
HOperatorSet.GenEmptyRegion(out emptyRegion);
HObject hoConcatReg;
if (taskIdx == 0)
{
hoConcatReg = wireRegion.Clone();
for (int h = 1; h < inspData.TaskNamesInFovs[0].Length; h++)
{
HOperatorSet.ConcatObj(hoConcatReg, emptyRegion, out hoConcatReg);
}
}
else
{
HOperatorSet.GenEmptyRegion(out hoConcatReg);
for (int h = 1; h < inspData.TaskNamesInFovs[0].Length; h++)
{
if (taskIdx == h)
{
HOperatorSet.ConcatObj(hoConcatReg, wireRegion.Clone(), out hoConcatReg);
}
else
{
HOperatorSet.ConcatObj(hoConcatReg, emptyRegion, out hoConcatReg);
}
}
}
inspData.Wire = hoConcatReg;
}
inspData.Region = null; //保存所有出错的Region , 一维长度和序号
if (fovResult.DiesErrorRegions != null &&
fovResult.DiesErrorRegions[j] != null &&
fovResult.DiesErrorRegions[j].Length > 0)
{
HObject ho = fovResult.DiesErrorRegions[j][0].Clone();
for (int h = 1; h < fovResult.DiesErrorRegions[j].Length; h++)
{
HOperatorSet.ConcatObj(ho, fovResult.DiesErrorRegions[j][h], out ho);
}
inspData.Region = ho;
}
int[] errorCodes = fovResult.DiesErrorCodes[j];
if (errorCodes.Length == 1 && errorCodes[0] == 0) //检测合格
{
inspData.InspectionResult = InspectionResults.OK;
inspData.List_DefectData = null;
}
else
{
inspData.InspectionResult = InspectionResults.NG;
inspData.List_DefectData = new List <DefectData>();
for (int h = 0; h < fovResult.DiesErrorCodes.Length; h++)
{
DefectData dd = new DefectData();
dd.DefectTypeIndex = errorCodes[h];
dd.ErrorDetail = fovResult.DiesErrorDetails[j][h];
dd.ImageIndex = _ImgIndex(fovResult.FovName, fovResult.DiesErrorTaskNames[j][h]);
inspData.List_DefectData.Add(dd);
}
}
inspData.SuccessRegion = null; //所有检测成功区域
inspData.SuccessRegionTypes = null;
inspData.SuccessRegionImageIndex = null;
if (null != fovResult.DetectIterms && fovResult.DetectIterms.Count > 0) //存在除了金线之外的其他检测项
{
List <HObject> itemRegs = new List <HObject>();
List <string> itemTyps = new List <string>();
List <int> itemImgIdx = new List <int>();
foreach (string itemName in fovResult.DetectIterms.Keys)
{
itemRegs.Add(fovResult.DetectIterms[itemName]);
itemTyps.Add(itemName);
string tskName = fovResult.DetectItemTaskNames[itemName];
for (int k = 0; k < fovResult.TaskNames[0].Length; k++)
{
if (tskName == fovResult.TaskNames[k])
{
itemImgIdx.Add(k);
break;
}
}
}
if (itemRegs.Count() == 1)
{
inspData.SuccessRegion = itemRegs[0];
}
else
{
HObject hoReg = itemRegs[0].Clone();
for (int h = 1; h < itemRegs.Count(); h++)
{
HOperatorSet.ConcatObj(hoReg, itemRegs[h], out hoReg);
}
inspData.SuccessRegion = hoReg;
}
inspData.SuccessRegionTypes = itemTyps.ToArray();
inspData.SuccessRegionImageIndex = itemImgIdx.ToArray();
}
if (null == inspData.List_DefectData)
{
inspData.List_DefectData = new List <DefectData>();
}
ret.Add(inspData);
}
_fovCounteds[i] = true;
}
}
}
else //大Die,一颗Die包含多个Fov
{
int fovCountInDie = _recipe.FovCount;
for (int i = 0; i < _fovResults.Length; i += fovCountInDie)
{
bool isFovsCan2Die = true; //多个Fov是否能集成为一个Die
for (int j = 0; j < fovCountInDie; j++)
{
if (null == _fovResults[i + j] || _fovCounteds[i])
{
isFovsCan2Die = false;
break;
}
}
if (!isFovsCan2Die)
{
continue;
}
InspectionData inspData = new InspectionData();
inspData.RecipeID = _recipeID;
inspData.LotID = _lotID;
inspData.FrameID = _pieceID;
inspData.FovNames = _recipe.FovNames();
inspData.TaskNamesInFovs = new string[inspData.FovNames.Length][];
for (int h = 0; h < inspData.FovNames.Length; h++)
{
inspData.TaskNamesInFovs[h] = _recipe.TaskNames(inspData.FovNames[h]);
}
inspData.Code2D = null;
inspData.ColumnIndex = _fovResults[i].ICCol;
inspData.RowIndex = _fovResults[i].ICRow;
HObject hoImg = null; ////将Die所属的所有多通道的图平铺成一维数组
HObject hoWire = null;
HObject hoErrorRegions = null;
bool isDieOK = true; //整颗die的检测结果是否OK
List <DefectData> lstDefectData = new List <DefectData>();
HObject hoSuccessRegion = null;
List <string> lstSuccessRegionTypes = new List <string>();
List <int> lstSuccessImgIndex = new List <int>();
for (int j = i; j < i + fovCountInDie; j++) //将多个Fov合为一个Die
{
DlafFovDetectResult fovRet = _fovResults[j];
HObject hoTaskImgs = fovRet.DetectDiesImages[0]; //每个Fov中只有一个Die（的一部分）
if (null == hoImg) //第一个
{
hoImg = hoTaskImgs.Clone();
}
else
{
for (int k = 0; k < hoTaskImgs.CountObj(); k++)
{
HOperatorSet.ConcatObj(hoImg, hoTaskImgs.CopyObj(k + 1, 1), out hoImg);
}
}
HObject hoRegion = fovRet.WireRegion;//将所有Fov中的WireRegion平铺成一维数组
if (null == hoRegion)
{
HOperatorSet.GenEmptyRegion(out hoRegion);
}
if (null == hoWire)
{
hoWire = hoRegion.Clone();
for (int k = 1; k < fovRet.TaskNames.Length; k++)
{
HOperatorSet.ConcatObj(hoWire, hoRegion.Clone(), out hoWire);
}
}
else
{
for (int k = 0; k < fovRet.TaskNames.Length; k++)
{
HOperatorSet.ConcatObj(hoWire, hoRegion.Clone(), out hoWire);
}
}
if (!fovRet.IsDetectSuccess)//视觉检测失败
{
}
else
{
///错误区域
if (fovRet.DiesErrorCodes[0].Length != 1 || fovRet.DiesErrorCodes[0][0] == 0)
{
isDieOK = false;
DefectData df = new DefectData();
df.DefectTypeIndex = fovRet.DiesErrorCodes[0][0];
df.ErrorDetail = fovRet.DiesErrorDetails[0][0];
df.ImageIndex = _ImgIndex(fovRet.FovName, fovRet.DiesErrorTaskNames[0][0]);
lstDefectData.Add(df);
if (null == hoErrorRegions)
{
hoErrorRegions = fovRet.DiesErrorRegions[0][0].Clone();
}
else
{
HOperatorSet.ConcatObj(hoErrorRegions, fovRet.DiesErrorRegions[0][0], out hoErrorRegions);
}
for (int k = 1; k < fovRet.DiesErrorCodes[0].Length; k++)
{
df = new DefectData();
df.DefectTypeIndex = fovRet.DiesErrorCodes[0][k];
df.ErrorDetail = fovRet.DiesErrorDetails[0][k];
df.ImageIndex = _ImgIndex(fovRet.FovName, fovRet.DiesErrorTaskNames[0][k]);
lstDefectData.Add(df);
HOperatorSet.ConcatObj(hoErrorRegions, fovRet.DiesErrorRegions[0][k], out hoErrorRegions);
}
}
/*public HObject*/
if (fovRet.DetectIterms != null && fovRet.DetectIterms.Count > 0)
{
foreach (KeyValuePair <string, HObject> kv in fovRet.DetectIterms)
{
if (null == hoSuccessRegion)
{
hoSuccessRegion = kv.Value.Clone();
}
else
{
HOperatorSet.ConcatObj(hoSuccessRegion, kv.Value, out hoSuccessRegion);
}
lstSuccessRegionTypes.Add(kv.Key);
lstSuccessImgIndex.Add(_ImgIndex(fovRet.FovName, kv.Key));
}
}
}
_fovCounteds[j] = true;
}
inspData.Image = hoImg;
inspData.Wire = hoWire;
inspData.Region = hoErrorRegions;
if (isDieOK)
{
inspData.InspectionResult = InspectionResults.OK;
inspData.List_DefectData = null;
}
else
{
inspData.InspectionResult = InspectionResults.NG;
inspData.List_DefectData = lstDefectData;
}
if (null != hoSuccessRegion)
{
inspData.SuccessRegion = hoSuccessRegion; //所有检测成功区域
inspData.SuccessRegionTypes = lstSuccessRegionTypes.ToArray();
inspData.SuccessRegionImageIndex = lstSuccessImgIndex.ToArray();
}
if (null == inspData.List_DefectData)
{
inspData.List_DefectData = new List <DefectData>();
}
ret.Add(inspData);
}
}
if (ret.Count() == 0)
{
return(null);
}
return(ret.ToArray());
}
private void action()
{
// Stack for temporary objects
HObject[] OTemp = new HObject[20];
// Local iconic variables
HObject ho_Rectangle, ho_ImageReduced;
HObject ho_Region, ho_ConnectedRegions2, ho_SelectedRegions1;
HObject ho_RegionUnion, ho_Rectangle2, ho_ImageReduced2;
HObject ho_RegionLines, ho_RegionUnion1, ho_RegionUnion2;
HObject ho_RegionUnion3, ho_Region1, ho_ConnectedRegions;
HObject ho_RegionFillUp, ho_SelectedRegions, ho_SortedRegions;
HObject ho_ObjectSelected1, ho_ObjectSelected = null, ho_Rectangle1 = null;
HObject ho_ImageReduced1 = null, ho_Region2 = null, ho_ConnectedRegions3 = null;
HObject ho_SelectedRegions2 = null, ho_Circle1 = null, ho_Circle2 = null;
HObject ho_Circle3 = null, ho_Circle4 = null, ho_RegionUnionc1 = null;
HObject ho_RegionUnionc2 = null, ho_RegionUnionc3 = null, ho_ConnectedRegionsc = null;
HObject ho_SortedRegions1 = null, ho_ContoursL = null, ho_RegionLinesL = null;
HObject ho_RegionLinesL1 = null, ho_RegionUnionL = null, ho_ConnectedRegionsL = null;
HObject ho_SelectedRegionsL = null, ho_RegionFillUpL = null;
HObject ho_ContoursSplitL = null, ho_SelectedContoursL = null;
HObject ho_UnionContoursL = null, ho_RegionL = null, ho_RegionDifferenceL = null;
HObject ho_ContoursR = null, ho_RegionLinesR = null, ho_RegionLinesR1 = null;
HObject ho_RegionUnionR = null, ho_ConnectedRegionsR = null;
HObject ho_SelectedRegionsR = null, ho_RegionFillUpR = null;
HObject ho_ContoursSplitR = null, ho_SelectedContoursR = null;
HObject ho_UnionContoursR = null, ho_RegionR = null, ho_RegionDifferenceR = null;
HObject ho_ConnectedRegions1;
// Local control variables
HTuple hv_Width = null, hv_Height = null, hv_Row11 = null;
HTuple hv_Column11 = null, hv_Row21 = null, hv_Column21 = null;
HTuple hv_Row12 = null, hv_Column12 = null, hv_Row22 = null;
HTuple hv_Column22 = null, hv_hi = null, hv_Number = null;
HTuple hv_h = null, hv_w = null, hv_w1 = null, hv_Row4 = null;
HTuple hv_Column4 = null, hv_Phi1 = null, hv_Length11 = null;
HTuple hv_Length21 = null, hv_i = null, hv_Row5 = new HTuple();
HTuple hv_Column5 = new HTuple(), hv_Phi2 = new HTuple();
HTuple hv_Length12 = new HTuple(), hv_Length22 = new HTuple();
HTuple hv_Length1 = new HTuple(), hv_Row = new HTuple();
HTuple hv_Column = new HTuple(), hv_Phi = new HTuple();
HTuple hv_Length2 = new HTuple(), hv_Cos = new HTuple();
HTuple hv_Sin = new HTuple(), hv_RT_X = new HTuple(), hv_RT_Y = new HTuple();
HTuple hv_AX = new HTuple(), hv_AY = new HTuple(), hv_RB_X = new HTuple();
HTuple hv_RB_Y = new HTuple(), hv_BX = new HTuple(), hv_BY = new HTuple();
HTuple hv_LB_X = new HTuple(), hv_LB_Y = new HTuple();
HTuple hv_CX = new HTuple(), hv_CY = new HTuple(), hv_LT_X = new HTuple();
HTuple hv_LT_Y = new HTuple(), hv_DX = new HTuple(), hv_DY = new HTuple();
HTuple hv_Area = new HTuple(), hv_Row1 = new HTuple();
HTuple hv_Column1 = new HTuple(), hv_Distance = new HTuple();
HTuple hv_Distance1 = new HTuple(), hv_shapeParam = new HTuple();
HTuple hv_MetrologyHandleL = new HTuple(), hv_Index = new HTuple();
HTuple hv_RowL = new HTuple(), hv_ColumnL = new HTuple();
HTuple hv_l = new HTuple(), hv_NumberL = new HTuple();
HTuple hv_MetrologyHandleR = new HTuple(), hv_RowR = new HTuple();
HTuple hv_ColumnR = new HTuple(), hv_r = new HTuple();
HTuple hv_NumberR = new HTuple(), hv_AreaL = new HTuple();
HTuple hv_AreaR = new HTuple(), hv_Area1 = null, hv_Row2 = null;
HTuple hv_Column2 = null, hv_Area2 = null, hv_Row3 = null;
HTuple hv_Column3 = null, hv_hm = null, hv_wm = null, hv_w1m = null;
HTuple hv_Row13 = null, hv_Column13 = null, hv_Row23 = null;
HTuple hv_Column23 = null, hv_zh = null;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Rectangle);
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_Region);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions2);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions1);
HOperatorSet.GenEmptyObj(out ho_RegionUnion);
HOperatorSet.GenEmptyObj(out ho_Rectangle2);
HOperatorSet.GenEmptyObj(out ho_ImageReduced2);
HOperatorSet.GenEmptyObj(out ho_RegionLines);
HOperatorSet.GenEmptyObj(out ho_RegionUnion1);
HOperatorSet.GenEmptyObj(out ho_RegionUnion2);
HOperatorSet.GenEmptyObj(out ho_RegionUnion3);
HOperatorSet.GenEmptyObj(out ho_Region1);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
HOperatorSet.GenEmptyObj(out ho_SortedRegions);
HOperatorSet.GenEmptyObj(out ho_ObjectSelected1);
HOperatorSet.GenEmptyObj(out ho_ObjectSelected);
HOperatorSet.GenEmptyObj(out ho_Rectangle1);
HOperatorSet.GenEmptyObj(out ho_ImageReduced1);
HOperatorSet.GenEmptyObj(out ho_Region2);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions3);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions2);
HOperatorSet.GenEmptyObj(out ho_Circle1);
HOperatorSet.GenEmptyObj(out ho_Circle2);
HOperatorSet.GenEmptyObj(out ho_Circle3);
HOperatorSet.GenEmptyObj(out ho_Circle4);
HOperatorSet.GenEmptyObj(out ho_RegionUnionc1);
HOperatorSet.GenEmptyObj(out ho_RegionUnionc2);
HOperatorSet.GenEmptyObj(out ho_RegionUnionc3);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegionsc);
HOperatorSet.GenEmptyObj(out ho_SortedRegions1);
HOperatorSet.GenEmptyObj(out ho_ContoursL);
HOperatorSet.GenEmptyObj(out ho_RegionLinesL);
HOperatorSet.GenEmptyObj(out ho_RegionLinesL1);
HOperatorSet.GenEmptyObj(out ho_RegionUnionL);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegionsL);
HOperatorSet.GenEmptyObj(out ho_SelectedRegionsL);
HOperatorSet.GenEmptyObj(out ho_RegionFillUpL);
HOperatorSet.GenEmptyObj(out ho_ContoursSplitL);
HOperatorSet.GenEmptyObj(out ho_SelectedContoursL);
HOperatorSet.GenEmptyObj(out ho_UnionContoursL);
HOperatorSet.GenEmptyObj(out ho_RegionL);
HOperatorSet.GenEmptyObj(out ho_RegionDifferenceL);
HOperatorSet.GenEmptyObj(out ho_ContoursR);
HOperatorSet.GenEmptyObj(out ho_RegionLinesR);
HOperatorSet.GenEmptyObj(out ho_RegionLinesR1);
HOperatorSet.GenEmptyObj(out ho_RegionUnionR);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegionsR);
HOperatorSet.GenEmptyObj(out ho_SelectedRegionsR);
HOperatorSet.GenEmptyObj(out ho_RegionFillUpR);
HOperatorSet.GenEmptyObj(out ho_ContoursSplitR);
HOperatorSet.GenEmptyObj(out ho_SelectedContoursR);
HOperatorSet.GenEmptyObj(out ho_UnionContoursR);
HOperatorSet.GenEmptyObj(out ho_RegionR);
HOperatorSet.GenEmptyObj(out ho_RegionDifferenceR);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions1);
HOperatorSet.Union1(algorithm.Region, out RegionToDisp);
try
{
HOperatorSet.GetImageSize(Image, out hv_Width, out hv_Height);
ho_Rectangle.Dispose();
HOperatorSet.GenRectangle1(out ho_Rectangle, DRow1m, DCol1m, DRow2m, DCol2m);
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(Image, ho_Rectangle, out ho_ImageReduced);
ho_Region.Dispose();
HOperatorSet.Threshold(ho_ImageReduced, out ho_Region, 250, 255);
ho_ConnectedRegions2.Dispose();
HOperatorSet.Connection(ho_Region, out ho_ConnectedRegions2);
ho_SelectedRegions1.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions2, out ho_SelectedRegions1, "height",
"and", 220, 99999);
ho_RegionUnion.Dispose();
HOperatorSet.Union1(ho_SelectedRegions1, out ho_RegionUnion);
HOperatorSet.SmallestRectangle1(ho_RegionUnion, out hv_Row12, out hv_Column12,
out hv_Row22, out hv_Column22);
ho_Rectangle2.Dispose();
HOperatorSet.GenRectangle1(out ho_Rectangle2, hv_Row12, hv_Column12, hv_Row22,
hv_Column22);
ho_ImageReduced2.Dispose();
HOperatorSet.ReduceDomain(ho_ImageReduced, ho_Rectangle2, out ho_ImageReduced2
);
ho_RegionLines.Dispose();
HOperatorSet.GenRegionLine(out ho_RegionLines, (hv_Row12 + hv_Row22) / 2, hv_Column12,
((hv_Row12 + hv_Row22) / 2) + 1, hv_Column12);
ho_RegionUnion1.Dispose();
HOperatorSet.Union1(ho_RegionLines, out ho_RegionUnion1);
ho_RegionUnion2.Dispose();
HOperatorSet.Union1(ho_RegionLines, out ho_RegionUnion2);
ho_RegionUnion3.Dispose();
HOperatorSet.Union1(ho_RegionLines, out ho_RegionUnion3);
ho_Region1.Dispose();
HOperatorSet.Threshold(ho_ImageReduced2, out ho_Region1, 128, 255);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_Region1, out ho_ConnectedRegions);
ho_RegionFillUp.Dispose();
HOperatorSet.FillUp(ho_ConnectedRegions, out ho_RegionFillUp);
hv_hi = hv_Row22 - hv_Row12;
ho_SelectedRegions.Dispose();
HOperatorSet.SelectShape(ho_RegionFillUp, out ho_SelectedRegions, (new HTuple("area")).TupleConcat(
"height"), "and", (new HTuple(500)).TupleConcat(hv_hi * 0.4), (new HTuple(99999000)).TupleConcat(
hv_hi + 2));
ho_SortedRegions.Dispose();
HOperatorSet.SortRegion(ho_SelectedRegions, out ho_SortedRegions, "upper_left",
"true", "column");
HOperatorSet.CountObj(ho_SortedRegions, out hv_Number);
// stop(); only in hdevelop
hv_h = new HTuple();
hv_w = new HTuple();
//w1 := []
ho_ObjectSelected1.Dispose();
HOperatorSet.SelectObj(ho_SortedRegions, out ho_ObjectSelected1, 1);
HOperatorSet.SmallestRectangle2(ho_ObjectSelected1, out hv_Row4, out hv_Column4,
out hv_Phi1, out hv_Length11, out hv_Length21);
hv_w1 = hv_Length21 * 2;
HTuple end_val51 = hv_Number - 1;
HTuple step_val51 = 1;
for (hv_i = 2; hv_i.Continue(end_val51, step_val51); hv_i = hv_i.TupleAdd(step_val51))
{
ho_ObjectSelected.Dispose();
HOperatorSet.SelectObj(ho_SortedRegions, out ho_ObjectSelected, hv_i);
HOperatorSet.SmallestRectangle2(ho_ObjectSelected, out hv_Row5, out hv_Column5,
out hv_Phi2, out hv_Length12, out hv_Length22);
//if (Length1>(Row22-Row12)*0.25)
ho_Rectangle1.Dispose();
HOperatorSet.GenRectangle2(out ho_Rectangle1, hv_Row5, hv_Column5, hv_Phi2,
hv_Length12 * 0.85, hv_Length22);
ho_ImageReduced1.Dispose();
HOperatorSet.ReduceDomain(ho_ImageReduced, ho_Rectangle1, out ho_ImageReduced1
);
ho_Region2.Dispose();
HOperatorSet.Threshold(ho_ImageReduced1, out ho_Region2, 128, 255);
ho_ConnectedRegions3.Dispose();
HOperatorSet.Connection(ho_Region2, out ho_ConnectedRegions3);
ho_SelectedRegions2.Dispose();
HOperatorSet.SelectShapeStd(ho_ConnectedRegions3, out ho_SelectedRegions2,
"max_area", 70);
HOperatorSet.SmallestRectangle2(ho_SelectedRegions2, out hv_Row, out hv_Column,
out hv_Phi, out hv_Length1, out hv_Length2);
//*矩形4个角点
HOperatorSet.TupleCos(hv_Phi, out hv_Cos);
HOperatorSet.TupleSin(hv_Phi, out hv_Sin);
//*dev_set_color('green')
hv_RT_X = ((-hv_Length1) * hv_Cos) - (hv_Length2 * hv_Sin);
hv_RT_Y = ((-hv_Length1) * hv_Sin) + (hv_Length2 * hv_Cos);
ho_Circle1.Dispose();
HOperatorSet.GenCircle(out ho_Circle1, hv_Row - hv_RT_Y, hv_Column + hv_RT_X,
0.5);
//*最小矩形的顶点A
hv_AX = ((-hv_Length1) * hv_Cos) - (hv_Length2 * hv_Sin);
hv_AY = ((-hv_Length1) * hv_Sin) + (hv_Length2 * hv_Cos);
//*dev_set_color('red')
hv_RB_X = (hv_Length1 * hv_Cos) - (hv_Length2 * hv_Sin);
hv_RB_Y = (hv_Length1 * hv_Sin) + (hv_Length2 * hv_Cos);
ho_Circle2.Dispose();
HOperatorSet.GenCircle(out ho_Circle2, hv_Row - hv_RB_Y, hv_Column + hv_RB_X,
0.5);
//*最小矩形的顶点B
hv_BX = (hv_Length1 * hv_Cos) - (hv_Length2 * hv_Sin);
hv_BY = (hv_Length1 * hv_Sin) + (hv_Length2 * hv_Cos);
//*dev_set_color('yellow')
hv_LB_X = (hv_Length1 * hv_Cos) + (hv_Length2 * hv_Sin);
hv_LB_Y = (hv_Length1 * hv_Sin) - (hv_Length2 * hv_Cos);
ho_Circle3.Dispose();
HOperatorSet.GenCircle(out ho_Circle3, hv_Row - hv_LB_Y, hv_Column + hv_LB_X,
0.5);
//*最小矩形的顶点C
hv_CX = (hv_Length1 * hv_Cos) + (hv_Length2 * hv_Sin);
hv_CY = (hv_Length1 * hv_Sin) - (hv_Length2 * hv_Cos);
//*dev_set_color('pink')
hv_LT_X = ((-hv_Length1) * hv_Cos) + (hv_Length2 * hv_Sin);
hv_LT_Y = ((-hv_Length1) * hv_Sin) - (hv_Length2 * hv_Cos);
ho_Circle4.Dispose();
HOperatorSet.GenCircle(out ho_Circle4, hv_Row - hv_LT_Y, hv_Column + hv_LT_X,
0.5);
//*最小矩形的顶点D
hv_DX = ((-hv_Length1) * hv_Cos) + (hv_Length2 * hv_Sin);
hv_DY = ((-hv_Length1) * hv_Sin) - (hv_Length2 * hv_Cos);
//stop ()
ho_RegionUnionc1.Dispose();
HOperatorSet.Union2(ho_Circle1, ho_Circle2, out ho_RegionUnionc1);
ho_RegionUnionc2.Dispose();
HOperatorSet.Union2(ho_RegionUnionc1, ho_Circle3, out ho_RegionUnionc2);
ho_RegionUnionc3.Dispose();
HOperatorSet.Union2(ho_RegionUnionc2, ho_Circle4, out ho_RegionUnionc3);
ho_ConnectedRegionsc.Dispose();
HOperatorSet.Connection(ho_RegionUnionc3, out ho_ConnectedRegionsc);
//count_obj (RegionUnionc3, Number1)
ho_SortedRegions1.Dispose();
HOperatorSet.SortRegion(ho_ConnectedRegionsc, out ho_SortedRegions1, "upper_left",
"true", "row");
HOperatorSet.AreaCenter(ho_SortedRegions1, out hv_Area, out hv_Row1, out hv_Column1);
HOperatorSet.DistancePp(hv_Row1.TupleSelect(0), hv_Column1.TupleSelect(
0), hv_Row1.TupleSelect(1), hv_Column1.TupleSelect(1), out hv_Distance);
HOperatorSet.DistancePl(hv_Row1.TupleSelect(0), hv_Column1.TupleSelect(
0), hv_Row1.TupleSelect(2), hv_Column1.TupleSelect(2), hv_Row1.TupleSelect(
3), hv_Column1.TupleSelect(3), out hv_Distance1);
//if (i>1)
hv_h = hv_h.TupleConcat((hv_Distance1 * 4) / 3);
//endif
hv_w = hv_w.TupleConcat(hv_Distance);
//gen_region_line (RegionLines2, (Row1[0]+Row1[1])/2, (Column1[0]+Column1[1])/2, (Row1[2]+Row1[3])/2, (Column1[2]+Column1[3])/2)
hv_shapeParam = new HTuple();
hv_shapeParam = hv_shapeParam.TupleConcat(((hv_Row1.TupleSelect(
0)) + (hv_Row1.TupleSelect(1))) / 2);
hv_shapeParam = hv_shapeParam.TupleConcat(((hv_Column1.TupleSelect(
0)) + (hv_Column1.TupleSelect(1))) / 2);
hv_shapeParam = hv_shapeParam.TupleConcat(((hv_Row1.TupleSelect(
2)) + (hv_Row1.TupleSelect(3))) / 2);
hv_shapeParam = hv_shapeParam.TupleConcat(((hv_Column1.TupleSelect(
2)) + (hv_Column1.TupleSelect(3))) / 2);
//shapeParam := [Row12,(Column22+Column12)/2,Row22,(Column22+Column12)/2]
//找左侧点
HOperatorSet.CreateMetrologyModel(out hv_MetrologyHandleL);
HOperatorSet.SetMetrologyModelImageSize(hv_MetrologyHandleL, hv_Width,
hv_Height);
HOperatorSet.AddMetrologyObjectGeneric(hv_MetrologyHandleL, "line", hv_shapeParam,
(hv_Distance / 2) + 0.5, 1, 1, 60, new HTuple(), new HTuple(), out hv_Index);
//设置参数
HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandleL, "all", "measure_transition",
"negative");
HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandleL, "all", "num_measures",
150);
HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandleL, "all", "num_instances",
1);
HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandleL, "all", "measure_select",
"last");
//开始找边缘
HOperatorSet.ApplyMetrologyModel(ho_ImageReduced1, hv_MetrologyHandleL);
ho_ContoursL.Dispose();
HOperatorSet.GetMetrologyObjectMeasures(out ho_ContoursL, hv_MetrologyHandleL,
"all", "all", out hv_RowL, out hv_ColumnL);
if (HDevWindowStack.IsOpen())
{
//dev_set_color ('red')
}
//disp_cross (3600, RowL, ColumnL, 6, Phi)
//左侧点，用一Row,只取最左边点
//gen_cross_contour_xld (CrossL, RowL, ColumnL, 6, 0)
///释放测量句柄
HOperatorSet.ClearMetrologyModel(hv_MetrologyHandleL);
//gen_region_line (RegionLines, Row11, Column11, Row11+1, Column11)
//union1 (RegionLines, RegionUnion1)
for (hv_l = 0; (int)hv_l <= (int)((new HTuple(hv_RowL.TupleLength())) - 2); hv_l = (int)hv_l + 1)
{
ho_RegionLinesL.Dispose();
HOperatorSet.GenRegionLine(out ho_RegionLinesL, hv_RowL.TupleSelect(hv_l),
hv_ColumnL.TupleSelect(hv_l), hv_RowL.TupleSelect(hv_l + 1), hv_ColumnL.TupleSelect(
hv_l + 1));
{
HObject ExpTmpOutVar_0;
HOperatorSet.Union2(ho_RegionUnion1, ho_RegionLinesL, out ExpTmpOutVar_0
);
ho_RegionUnion1.Dispose();
ho_RegionUnion1 = ExpTmpOutVar_0;
}
}
ho_RegionLinesL1.Dispose();
HOperatorSet.GenRegionLine(out ho_RegionLinesL1, hv_RowL.TupleSelect(0),
hv_ColumnL.TupleSelect(0), hv_RowL.TupleSelect((new HTuple(hv_RowL.TupleLength()
)) - 1), hv_ColumnL.TupleSelect((new HTuple(hv_RowL.TupleLength())) - 1));
ho_RegionUnionL.Dispose();
HOperatorSet.Union2(ho_RegionUnion1, ho_RegionLinesL1, out ho_RegionUnionL
);
ho_ConnectedRegionsL.Dispose();
HOperatorSet.Connection(ho_RegionUnionL, out ho_ConnectedRegionsL);
ho_SelectedRegionsL.Dispose();
HOperatorSet.SelectShapeStd(ho_ConnectedRegionsL, out ho_SelectedRegionsL,
"max_area", 70);
ho_RegionFillUpL.Dispose();
HOperatorSet.FillUp(ho_SelectedRegionsL, out ho_RegionFillUpL);
ho_ContoursL.Dispose();
HOperatorSet.GenContourRegionXld(ho_RegionFillUpL, out ho_ContoursL, "border");
ho_ContoursSplitL.Dispose();
HOperatorSet.SegmentContoursXld(ho_ContoursL, out ho_ContoursSplitL, "lines_circles",
5, 8, 3.5);
ho_SelectedContoursL.Dispose();
HOperatorSet.SelectContoursXld(ho_ContoursSplitL, out ho_SelectedContoursL,
"contour_length", 70, 2000, -0.5, 0.5);
//***
ho_UnionContoursL.Dispose();
HOperatorSet.UnionAdjacentContoursXld(ho_SelectedContoursL, out ho_UnionContoursL,
10, 1, "attr_keep");
ho_RegionL.Dispose();
HOperatorSet.GenRegionContourXld(ho_UnionContoursL, out ho_RegionL, "filled");
ho_RegionDifferenceL.Dispose();
HOperatorSet.Difference(ho_RegionFillUpL, ho_RegionL, out ho_RegionDifferenceL
);
HOperatorSet.CountObj(ho_RegionDifferenceL, out hv_NumberL);
//*
//找右侧点
HOperatorSet.CreateMetrologyModel(out hv_MetrologyHandleR);
HOperatorSet.SetMetrologyModelImageSize(hv_MetrologyHandleR, hv_Width,
hv_Height);
HOperatorSet.AddMetrologyObjectGeneric(hv_MetrologyHandleR, "line", hv_shapeParam,
(hv_Distance / 2) + 0.5, 1, 1, 60, new HTuple(), new HTuple(), out hv_Index);
//设置参数
HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandleR, "all", "measure_transition",
"positive");
HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandleR, "all", "num_measures",
100);
HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandleR, "all", "num_instances",
1);
HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandleR, "all", "measure_select",
"first");
//开始找边缘
HOperatorSet.ApplyMetrologyModel(ho_ImageReduced1, hv_MetrologyHandleR);
ho_ContoursR.Dispose();
HOperatorSet.GetMetrologyObjectMeasures(out ho_ContoursR, hv_MetrologyHandleR,
"all", "all", out hv_RowR, out hv_ColumnR);
//disp_obj (Image, 3600)
if (HDevWindowStack.IsOpen())
{
//dev_set_color ('red')
}
//disp_cross (3600, RowR, ColumnR, 6, Phi)
//*右侧点，用一Row,只取最右边点
//gen_cross_contour_xld (CrossR, RowR, ColumnR, 6, 0)
///释放测量句柄
HOperatorSet.ClearMetrologyModel(hv_MetrologyHandleR);
//close_measure (MeasureHandle1)
//stop ()
//gen_region_line (RegionLines, Row11, Column11, Row11+1, Column11)
//union1 (RegionLines, RegionUnion1)
for (hv_r = 0; (int)hv_r <= (int)((new HTuple(hv_RowR.TupleLength())) - 2); hv_r = (int)hv_r + 1)
{
ho_RegionLinesR.Dispose();
HOperatorSet.GenRegionLine(out ho_RegionLinesR, hv_RowR.TupleSelect(hv_r),
hv_ColumnR.TupleSelect(hv_r), hv_RowR.TupleSelect(hv_r + 1), hv_ColumnR.TupleSelect(
hv_r + 1));
{
HObject ExpTmpOutVar_0;
HOperatorSet.Union2(ho_RegionUnion2, ho_RegionLinesR, out ExpTmpOutVar_0
);
ho_RegionUnion2.Dispose();
ho_RegionUnion2 = ExpTmpOutVar_0;
}
}
ho_RegionLinesR1.Dispose();
HOperatorSet.GenRegionLine(out ho_RegionLinesR1, hv_RowR.TupleSelect(0),
hv_ColumnR.TupleSelect(0), hv_RowR.TupleSelect((new HTuple(hv_RowR.TupleLength()
)) - 1), hv_ColumnR.TupleSelect((new HTuple(hv_RowR.TupleLength())) - 1));
ho_RegionUnionR.Dispose();
HOperatorSet.Union2(ho_RegionUnion2, ho_RegionLinesR1, out ho_RegionUnionR
);
ho_ConnectedRegionsR.Dispose();
HOperatorSet.Connection(ho_RegionUnionR, out ho_ConnectedRegionsR);
ho_SelectedRegionsR.Dispose();
HOperatorSet.SelectShapeStd(ho_ConnectedRegionsR, out ho_SelectedRegionsR,
"max_area", 70);
ho_RegionFillUpR.Dispose();
HOperatorSet.FillUp(ho_SelectedRegionsR, out ho_RegionFillUpR);
ho_ContoursR.Dispose();
HOperatorSet.GenContourRegionXld(ho_RegionFillUpR, out ho_ContoursR, "border");
ho_ContoursSplitR.Dispose();
HOperatorSet.SegmentContoursXld(ho_ContoursR, out ho_ContoursSplitR, "lines_circles",
5, 8, 3.5);
ho_SelectedContoursR.Dispose();
HOperatorSet.SelectContoursXld(ho_ContoursSplitR, out ho_SelectedContoursR,
"contour_length", 70, 2000, -0.5, 0.5);
ho_UnionContoursR.Dispose();
HOperatorSet.UnionAdjacentContoursXld(ho_SelectedContoursR, out ho_UnionContoursR,
10, 1, "attr_keep");
ho_RegionR.Dispose();
HOperatorSet.GenRegionContourXld(ho_UnionContoursR, out ho_RegionR, "filled");
ho_RegionDifferenceR.Dispose();
HOperatorSet.Difference(ho_RegionFillUpR, ho_RegionR, out ho_RegionDifferenceR
);
HOperatorSet.CountObj(ho_RegionDifferenceR, out hv_NumberR);
//stop ()
if ((int)(new HTuple(hv_NumberL.TupleGreater(0))) != 0)
{
HOperatorSet.AreaCenter(ho_RegionDifferenceL, out hv_AreaL, out hv_RowL,
out hv_ColumnL);
{
HObject ExpTmpOutVar_0;
HOperatorSet.Union2(ho_RegionUnion3, ho_RegionDifferenceL, out ExpTmpOutVar_0
);
ho_RegionUnion3.Dispose();
ho_RegionUnion3 = ExpTmpOutVar_0;
}
}
if ((int)(new HTuple(hv_NumberR.TupleGreater(0))) != 0)
{
HOperatorSet.AreaCenter(ho_RegionDifferenceR, out hv_AreaR, out hv_RowR,
out hv_ColumnR);
{
HObject ExpTmpOutVar_0;
HOperatorSet.Union2(ho_RegionUnion3, ho_RegionDifferenceR, out ExpTmpOutVar_0
);
ho_RegionUnion3.Dispose();
ho_RegionUnion3 = ExpTmpOutVar_0;
}
}
//union2 (RegionDifferenceL, RegionDifferenceR, RegionUnionLR)
//union2 (RegionUnion3, RegionUnionLR, RegionUnion3)
// stop(); only in hdevelop
//endif
}
HOperatorSet.AreaCenter(ho_RegionUnion3, out hv_Area1, out hv_Row2, out hv_Column2);
ho_ConnectedRegions1.Dispose();
HOperatorSet.Connection(ho_RegionUnion3, out ho_ConnectedRegions1);
HOperatorSet.AreaCenter(ho_ConnectedRegions1, out hv_Area2, out hv_Row3, out hv_Column3);
//tuple_concat (w1, w, Concat)
hv_hm = (hv_h.TupleMin()) / (hv_h.TupleMean());
hv_wm = (hv_w.TupleMax()) / (hv_w.TupleMean());
hv_w1m = hv_w1 / (hv_w.TupleMean());
ho_ObjectSelected.Dispose();
HOperatorSet.SelectObj(ho_SortedRegions, out ho_ObjectSelected, hv_Number);
HOperatorSet.SmallestRectangle1(ho_ObjectSelected, out hv_Row13, out hv_Column13,
out hv_Row23, out hv_Column23);
hv_zh = hv_Column23 - hv_Column13;
HOperatorSet.Union1(ho_ConnectedRegions1, out RegionToDisp);
HTuple hv_result = GetHv_result();
hv_result = hv_result.TupleConcat("最短比值");
hv_result = hv_result.TupleConcat(hv_hm.D);
hv_result = hv_result.TupleConcat("最宽比值");
hv_result = hv_result.TupleConcat(hv_wm.D);
hv_result = hv_result.TupleConcat("第一条宽度比值");
hv_result = hv_result.TupleConcat(hv_w1m.D);
hv_result = hv_result.TupleConcat("缺陷总面积");
hv_result = hv_result.TupleConcat(hv_Area1.D);
hv_result = hv_result.TupleConcat("最大缺陷面积");
hv_result = hv_result.TupleConcat(hv_Area2.D);
hv_result = hv_result.TupleConcat("宽度");
hv_result = hv_result.TupleConcat(hv_zh.D);
result = hv_result.Clone();
ho_Rectangle.Dispose();
ho_ImageReduced.Dispose();
ho_Region.Dispose();
ho_ConnectedRegions2.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionUnion.Dispose();
ho_Rectangle2.Dispose();
ho_ImageReduced2.Dispose();
ho_RegionLines.Dispose();
ho_RegionUnion1.Dispose();
ho_RegionUnion2.Dispose();
ho_RegionUnion3.Dispose();
ho_Region1.Dispose();
ho_ConnectedRegions.Dispose();
ho_RegionFillUp.Dispose();
ho_SelectedRegions.Dispose();
ho_SortedRegions.Dispose();
ho_ObjectSelected1.Dispose();
ho_ObjectSelected.Dispose();
ho_Rectangle1.Dispose();
ho_ImageReduced1.Dispose();
ho_Region2.Dispose();
ho_ConnectedRegions3.Dispose();
ho_SelectedRegions2.Dispose();
ho_Circle1.Dispose();
ho_Circle2.Dispose();
ho_Circle3.Dispose();
ho_Circle4.Dispose();
ho_RegionUnionc1.Dispose();
ho_RegionUnionc2.Dispose();
ho_RegionUnionc3.Dispose();
ho_ConnectedRegionsc.Dispose();
ho_SortedRegions1.Dispose();
ho_ContoursL.Dispose();
ho_RegionLinesL.Dispose();
ho_RegionLinesL1.Dispose();
ho_RegionUnionL.Dispose();
ho_ConnectedRegionsL.Dispose();
ho_SelectedRegionsL.Dispose();
ho_RegionFillUpL.Dispose();
ho_ContoursSplitL.Dispose();
ho_SelectedContoursL.Dispose();
ho_UnionContoursL.Dispose();
ho_RegionL.Dispose();
ho_RegionDifferenceL.Dispose();
ho_ContoursR.Dispose();
ho_RegionLinesR.Dispose();
ho_RegionLinesR1.Dispose();
ho_RegionUnionR.Dispose();
ho_ConnectedRegionsR.Dispose();
ho_SelectedRegionsR.Dispose();
ho_RegionFillUpR.Dispose();
ho_ContoursSplitR.Dispose();
ho_SelectedContoursR.Dispose();
ho_UnionContoursR.Dispose();
ho_RegionR.Dispose();
ho_RegionDifferenceR.Dispose();
ho_ConnectedRegions1.Dispose();
algorithm.Region.Dispose();
}
catch
{
HTuple hv_result = GetHv_result();
hv_result = hv_result.TupleConcat("最短比值");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("最宽比值");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("第一条宽度比值");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("缺陷总面积");
hv_result = hv_result.TupleConcat(999999);
hv_result = hv_result.TupleConcat("最大缺陷面积");
hv_result = hv_result.TupleConcat(999999);
hv_result = hv_result.TupleConcat("宽度");
hv_result = hv_result.TupleConcat(999999);
result = hv_result.Clone();
ho_Rectangle.Dispose();
ho_ImageReduced.Dispose();
ho_Region.Dispose();
ho_ConnectedRegions2.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionUnion.Dispose();
ho_Rectangle2.Dispose();
ho_ImageReduced2.Dispose();
ho_RegionLines.Dispose();
ho_RegionUnion1.Dispose();
ho_RegionUnion2.Dispose();
ho_RegionUnion3.Dispose();
ho_Region1.Dispose();
ho_ConnectedRegions.Dispose();
ho_RegionFillUp.Dispose();
ho_SelectedRegions.Dispose();
ho_SortedRegions.Dispose();
ho_ObjectSelected1.Dispose();
ho_ObjectSelected.Dispose();
ho_Rectangle1.Dispose();
ho_ImageReduced1.Dispose();
ho_Region2.Dispose();
ho_ConnectedRegions3.Dispose();
ho_SelectedRegions2.Dispose();
ho_Circle1.Dispose();
ho_Circle2.Dispose();
ho_Circle3.Dispose();
ho_Circle4.Dispose();
ho_RegionUnionc1.Dispose();
ho_RegionUnionc2.Dispose();
ho_RegionUnionc3.Dispose();
ho_ConnectedRegionsc.Dispose();
ho_SortedRegions1.Dispose();
ho_ContoursL.Dispose();
ho_RegionLinesL.Dispose();
ho_RegionLinesL1.Dispose();
ho_RegionUnionL.Dispose();
ho_ConnectedRegionsL.Dispose();
ho_SelectedRegionsL.Dispose();
ho_RegionFillUpL.Dispose();
ho_ContoursSplitL.Dispose();
ho_SelectedContoursL.Dispose();
ho_UnionContoursL.Dispose();
ho_RegionL.Dispose();
ho_RegionDifferenceL.Dispose();
ho_ContoursR.Dispose();
ho_RegionLinesR.Dispose();
ho_RegionLinesR1.Dispose();
ho_RegionUnionR.Dispose();
ho_ConnectedRegionsR.Dispose();
ho_SelectedRegionsR.Dispose();
ho_RegionFillUpR.Dispose();
ho_ContoursSplitR.Dispose();
ho_SelectedContoursR.Dispose();
ho_UnionContoursR.Dispose();
ho_RegionR.Dispose();
ho_RegionDifferenceR.Dispose();
ho_ConnectedRegions1.Dispose();
algorithm.Region.Dispose();
}
finally
{
ho_Rectangle.Dispose();
ho_ImageReduced.Dispose();
ho_Region.Dispose();
ho_ConnectedRegions2.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionUnion.Dispose();
ho_Rectangle2.Dispose();
ho_ImageReduced2.Dispose();
ho_RegionLines.Dispose();
ho_RegionUnion1.Dispose();
ho_RegionUnion2.Dispose();
ho_RegionUnion3.Dispose();
ho_Region1.Dispose();
ho_ConnectedRegions.Dispose();
ho_RegionFillUp.Dispose();
ho_SelectedRegions.Dispose();
ho_SortedRegions.Dispose();
ho_ObjectSelected1.Dispose();
ho_ObjectSelected.Dispose();
ho_Rectangle1.Dispose();
ho_ImageReduced1.Dispose();
ho_Region2.Dispose();
ho_ConnectedRegions3.Dispose();
ho_SelectedRegions2.Dispose();
ho_Circle1.Dispose();
ho_Circle2.Dispose();
ho_Circle3.Dispose();
ho_Circle4.Dispose();
ho_RegionUnionc1.Dispose();
ho_RegionUnionc2.Dispose();
ho_RegionUnionc3.Dispose();
ho_ConnectedRegionsc.Dispose();
ho_SortedRegions1.Dispose();
ho_ContoursL.Dispose();
ho_RegionLinesL.Dispose();
ho_RegionLinesL1.Dispose();
ho_RegionUnionL.Dispose();
ho_ConnectedRegionsL.Dispose();
ho_SelectedRegionsL.Dispose();
ho_RegionFillUpL.Dispose();
ho_ContoursSplitL.Dispose();
ho_SelectedContoursL.Dispose();
ho_UnionContoursL.Dispose();
ho_RegionL.Dispose();
ho_RegionDifferenceL.Dispose();
ho_ContoursR.Dispose();
ho_RegionLinesR.Dispose();
ho_RegionLinesR1.Dispose();
ho_RegionUnionR.Dispose();
ho_ConnectedRegionsR.Dispose();
ho_SelectedRegionsR.Dispose();
ho_RegionFillUpR.Dispose();
ho_ContoursSplitR.Dispose();
ho_SelectedContoursR.Dispose();
ho_UnionContoursR.Dispose();
ho_RegionR.Dispose();
ho_RegionDifferenceR.Dispose();
ho_ConnectedRegions1.Dispose();
algorithm.Region.Dispose();
}
}
private void addToStack(string Name, HObject obj, bool addToPL,
string col, string lw, string dm)
{
if(addToPL)
procList.Add(Name, obj);
viewControl.addIconicVar(obj);
IconiclistBox.Items.Add(Name);
addGraphicsStackDisplay(Name, col, lw, dm);
}
private void train_classifier(HTuple hv_DLClassifierHandle, HTuple hv_FileName,
HTuple hv_NumEpochs, HTuple hv_TrainingImages, HTuple hv_TrainingLabels, HTuple hv_ValidationImages,
HTuple hv_ValidationLabels, HTuple hv_LearningRateStepEveryNthEpoch, HTuple hv_LearningRateStepRatio,
HTuple hv_PlotEveryNthEpoch, HTuple hv_WindowHandle)
{
// Stack for temporary objects
HObject[] OTemp = new HObject[20];
// Local iconic variables
HObject ho_BatchImages = null;
// Local control variables
HTuple hv_TrainingErrors = new HTuple(), hv_ValidationErrors = new HTuple();
HTuple hv_LearningRates = new HTuple(), hv_Epochs = new HTuple();
HTuple hv_LossByIteration = new HTuple(), hv_BatchSize = new HTuple();
HTuple hv_MinValidationError = new HTuple(), hv_NumBatchesInEpoch = new HTuple();
HTuple hv_NumTotalIterations = new HTuple(), hv_PlottedIterations = new HTuple();
HTuple hv_TrainSequence = new HTuple(), hv_SelectPercentageTrainingImages = new HTuple();
HTuple hv_TrainingImagesSelected = new HTuple(), hv_TrainingLabelsSelected = new HTuple();
HTuple hv_Epoch = new HTuple(), hv_Iteration = new HTuple();
HTuple hv_BatchStart = new HTuple(), hv_BatchEnd = new HTuple();
HTuple hv_BatchIndices = new HTuple(), hv_BatchImageFiles = new HTuple();
HTuple hv_BatchLabels = new HTuple(), hv_GenParamName = new HTuple();
HTuple hv_GenParamValue = new HTuple(), hv_DLClassifierTrainResultHandle = new HTuple();
HTuple hv_Loss = new HTuple(), hv_CurrentIteration = new HTuple();
HTuple hv_TrainingDLClassifierResultIDs = new HTuple();
HTuple hv_ValidationDLClassifierResultIDs = new HTuple();
HTuple hv_TrainingTop1Error = new HTuple(), hv_ValidationTop1Error = new HTuple();
HTuple hv_LearningRate = new HTuple();
HTupleVector hvec_TrainingPredictedLabels = new HTupleVector(1);
HTupleVector hvec_TrainingConfidences = new HTupleVector(1);
HTupleVector hvec_ValidationPredictedLabels = new HTupleVector(1);
HTupleVector hvec_ValidationConfidences = new HTupleVector(1);
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_BatchImages);
try
{
//For the plot during training,
//we need to concatenate some intermediate results.
hv_TrainingErrors.Dispose();
hv_TrainingErrors = new HTuple();
hv_ValidationErrors.Dispose();
hv_ValidationErrors = new HTuple();
hv_LearningRates.Dispose();
hv_LearningRates = new HTuple();
hv_Epochs.Dispose();
hv_Epochs = new HTuple();
hv_LossByIteration.Dispose();
hv_LossByIteration = new HTuple();
hv_BatchSize.Dispose();
HOperatorSet.GetDlClassifierParam(hv_DLClassifierHandle, "batch_size", out hv_BatchSize);
hv_MinValidationError.Dispose();
hv_MinValidationError = 1;
//
//Create a tuple that includes all the iterations
//where the plot should be computed (including the last ieration).
hv_NumBatchesInEpoch.Dispose();
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_NumBatchesInEpoch = (((((new HTuple(hv_TrainingImages.TupleLength()
)) / (hv_BatchSize.TupleReal()))).TupleFloor())).TupleInt();
}
hv_NumTotalIterations.Dispose();
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_NumTotalIterations = (hv_NumBatchesInEpoch * hv_NumEpochs) - 1;
}
hv_PlottedIterations.Dispose();
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_PlottedIterations = ((((hv_NumBatchesInEpoch * HTuple.TupleGenSequence(
0, hv_NumEpochs - 1, hv_PlotEveryNthEpoch))).TupleConcat(hv_NumTotalIterations))).TupleRound()
;
}
//
//TrainSequence is used for easier indexing of the training data.
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_TrainSequence.Dispose();
HOperatorSet.TupleGenSequence(0, (new HTuple(hv_TrainingImages.TupleLength()
)) - 1, 1, out hv_TrainSequence);
}
//
//Select a subset of the training data set
//in order to obtain a fast approximation
//of the training error during training (plotting).
hv_SelectPercentageTrainingImages.Dispose();
hv_SelectPercentageTrainingImages = 100;
hv_TrainingImagesSelected.Dispose(); hv_TrainingLabelsSelected.Dispose();
select_percentage_dl_classifier_data(hv_TrainingImages, hv_TrainingLabels,
hv_SelectPercentageTrainingImages, out hv_TrainingImagesSelected, out hv_TrainingLabelsSelected);
//
HTuple end_val25 = hv_NumEpochs - 1;
HTuple step_val25 = 1;
#region
for (hv_Epoch = 0; hv_Epoch.Continue(end_val25, step_val25); hv_Epoch = hv_Epoch.TupleAdd(step_val25))
{
//In order to get randomness in each epoch,
//the training set is shuffled every epoch.
{
HTuple ExpTmpOutVar_0;
tuple_shuffle(hv_TrainSequence, out ExpTmpOutVar_0);
hv_TrainSequence.Dispose();
hv_TrainSequence = ExpTmpOutVar_0;
}
HTuple end_val29 = hv_NumBatchesInEpoch - 1;
HTuple step_val29 = 1;
for (hv_Iteration = 0; hv_Iteration.Continue(end_val29, step_val29); hv_Iteration = hv_Iteration.TupleAdd(step_val29))
{
//Select a batch from the training data set.
hv_BatchStart.Dispose();
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_BatchStart = hv_Iteration * hv_BatchSize;
}
hv_BatchEnd.Dispose();
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_BatchEnd = hv_BatchStart + (hv_BatchSize - 1);
}
hv_BatchIndices.Dispose();
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_BatchIndices = hv_TrainSequence.TupleSelectRange(
hv_BatchStart, hv_BatchEnd);
}
hv_BatchImageFiles.Dispose();
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_BatchImageFiles = hv_TrainingImages.TupleSelect(
hv_BatchIndices);
}
hv_BatchLabels.Dispose();
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_BatchLabels = hv_TrainingLabels.TupleSelect(
hv_BatchIndices);
}
//
//Read the image of the current batch.
ho_BatchImages.Dispose();
HOperatorSet.ReadImage(out ho_BatchImages, hv_BatchImageFiles);
//Augment the images to get a better variety of training images.
hv_GenParamName.Dispose();
hv_GenParamName = "mirror";
hv_GenParamValue.Dispose();
hv_GenParamValue = "rc";
{
HObject ExpTmpOutVar_0;
augment_images(ho_BatchImages, out ExpTmpOutVar_0, hv_GenParamName, hv_GenParamValue);
ho_BatchImages.Dispose();
ho_BatchImages = ExpTmpOutVar_0;
}
//
//Train the network with these images and ground truth labels.
hv_DLClassifierTrainResultHandle.Dispose();
HOperatorSet.TrainDlClassifierBatch(ho_BatchImages, hv_DLClassifierHandle,
hv_BatchLabels, out hv_DLClassifierTrainResultHandle);
//You can access the current value of the loss function,
//which should decrease during the training.
hv_Loss.Dispose();
HOperatorSet.GetDlClassifierTrainResult(hv_DLClassifierTrainResultHandle,
"loss", out hv_Loss);
//Store the loss in a tuple .
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
{
HTuple
ExpTmpLocalVar_LossByIteration = hv_LossByIteration.TupleConcat(
hv_Loss);
hv_LossByIteration.Dispose();
hv_LossByIteration = ExpTmpLocalVar_LossByIteration;
}
}
//
//In regular intervals, we want to evaluate
//how well our classifier performs.
hv_CurrentIteration.Dispose();
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
hv_CurrentIteration = ((hv_Iteration + (hv_NumBatchesInEpoch * hv_Epoch))).TupleInt()
;
}
if ((int)(((hv_CurrentIteration.TupleEqualElem(hv_PlottedIterations))).TupleSum()
) != 0)
{
//Plot the progress regularly.
//Evaluate the current classifier on the training and validation set.
hv_TrainingDLClassifierResultIDs.Dispose(); hvec_TrainingPredictedLabels.Dispose(); hvec_TrainingConfidences.Dispose();
apply_dl_classifier_batchwise(hv_TrainingImagesSelected, hv_DLClassifierHandle,
out hv_TrainingDLClassifierResultIDs, out hvec_TrainingPredictedLabels,
out hvec_TrainingConfidences);
hv_ValidationDLClassifierResultIDs.Dispose(); hvec_ValidationPredictedLabels.Dispose(); hvec_ValidationConfidences.Dispose();
apply_dl_classifier_batchwise(hv_ValidationImages, hv_DLClassifierHandle,
out hv_ValidationDLClassifierResultIDs, out hvec_ValidationPredictedLabels,
out hvec_ValidationConfidences);
//Evaluate the top-1 error on each dataset.
hv_TrainingTop1Error.Dispose();
evaluate_dl_classifier(hv_TrainingLabelsSelected, hv_DLClassifierHandle,
hv_TrainingDLClassifierResultIDs, "top1_error", "global", out hv_TrainingTop1Error);
hv_ValidationTop1Error.Dispose();
evaluate_dl_classifier(hv_ValidationLabels, hv_DLClassifierHandle, hv_ValidationDLClassifierResultIDs,
"top1_error", "global", out hv_ValidationTop1Error);
//Concatenate the values for the plot.
hv_LearningRate.Dispose();
HOperatorSet.GetDlClassifierParam(hv_DLClassifierHandle, "learning_rate",
out hv_LearningRate);
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
{
HTuple
ExpTmpLocalVar_TrainingErrors = hv_TrainingErrors.TupleConcat(
hv_TrainingTop1Error);
hv_TrainingErrors.Dispose();
hv_TrainingErrors = ExpTmpLocalVar_TrainingErrors;
}
}
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
{
HTuple
ExpTmpLocalVar_ValidationErrors = hv_ValidationErrors.TupleConcat(
hv_ValidationTop1Error);
hv_ValidationErrors.Dispose();
hv_ValidationErrors = ExpTmpLocalVar_ValidationErrors;
}
}
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
{
HTuple
ExpTmpLocalVar_LearningRates = hv_LearningRates.TupleConcat(
hv_LearningRate);
hv_LearningRates.Dispose();
hv_LearningRates = ExpTmpLocalVar_LearningRates;
}
}
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
{
HTuple
ExpTmpLocalVar_Epochs = hv_Epochs.TupleConcat(
(hv_PlottedIterations.TupleSelect(new HTuple(hv_Epochs.TupleLength()
))) / (hv_NumBatchesInEpoch.TupleReal()));
hv_Epochs.Dispose();
hv_Epochs = ExpTmpLocalVar_Epochs;
}
}
//Plot validation and error against the epochs in order to
//observe the progress of the training.
plot_dl_classifier_training_progress(hv_TrainingErrors, hv_ValidationErrors, hv_LearningRates, hv_Epochs, hv_NumEpochs, hv_WindowHandle);
//如果上面绘制坐标系到窗体过程报错，搞不定的话就用下面这句代替，直接显示训练数据到窗体
//disp_training_progress_datas(hv_TrainingErrors, hv_ValidationErrors, hv_LearningRates, hv_Epochs, hv_NumEpochs, hv_WindowHandle);
if ((int)(new HTuple(hv_ValidationTop1Error.TupleLessEqual(hv_MinValidationError))) != 0)
{
HOperatorSet.WriteDlClassifier(hv_DLClassifierHandle, hv_FileName);
hv_MinValidationError.Dispose();
hv_MinValidationError = new HTuple(hv_ValidationTop1Error);
}
}
}
//Reduce the learning rate every nth epoch.
if ((int)(new HTuple((((hv_Epoch + 1) % hv_LearningRateStepEveryNthEpoch)).TupleEqual(
0))) != 0)
{
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
HOperatorSet.SetDlClassifierParam(hv_DLClassifierHandle, "learning_rate",
hv_LearningRate * hv_LearningRateStepRatio);
}
hv_LearningRate.Dispose();
HOperatorSet.GetDlClassifierParam(hv_DLClassifierHandle, "learning_rate",
out hv_LearningRate);
}
}
#endregion
// stop(...); only in hdevelop
ho_BatchImages.Dispose();
hv_TrainingErrors.Dispose();
hv_ValidationErrors.Dispose();
hv_LearningRates.Dispose();
hv_Epochs.Dispose();
hv_LossByIteration.Dispose();
hv_BatchSize.Dispose();
hv_MinValidationError.Dispose();
hv_NumBatchesInEpoch.Dispose();
hv_NumTotalIterations.Dispose();
hv_PlottedIterations.Dispose();
hv_TrainSequence.Dispose();
hv_SelectPercentageTrainingImages.Dispose();
hv_TrainingImagesSelected.Dispose();
hv_TrainingLabelsSelected.Dispose();
hv_Epoch.Dispose();
hv_Iteration.Dispose();
hv_BatchStart.Dispose();
hv_BatchEnd.Dispose();
hv_BatchIndices.Dispose();
hv_BatchImageFiles.Dispose();
hv_BatchLabels.Dispose();
hv_GenParamName.Dispose();
hv_GenParamValue.Dispose();
hv_DLClassifierTrainResultHandle.Dispose();
hv_Loss.Dispose();
hv_CurrentIteration.Dispose();
hv_TrainingDLClassifierResultIDs.Dispose();
hv_ValidationDLClassifierResultIDs.Dispose();
hv_TrainingTop1Error.Dispose();
hv_ValidationTop1Error.Dispose();
hv_LearningRate.Dispose();
hvec_TrainingPredictedLabels.Dispose();
hvec_TrainingConfidences.Dispose();
hvec_ValidationPredictedLabels.Dispose();
hvec_ValidationConfidences.Dispose();
return;
}
catch (HalconException HDevExpDefaultException)
{
ho_BatchImages.Dispose();
hv_TrainingErrors.Dispose();
hv_ValidationErrors.Dispose();
hv_LearningRates.Dispose();
hv_Epochs.Dispose();
hv_LossByIteration.Dispose();
hv_BatchSize.Dispose();
hv_MinValidationError.Dispose();
hv_NumBatchesInEpoch.Dispose();
hv_NumTotalIterations.Dispose();
hv_PlottedIterations.Dispose();
hv_TrainSequence.Dispose();
hv_SelectPercentageTrainingImages.Dispose();
hv_TrainingImagesSelected.Dispose();
hv_TrainingLabelsSelected.Dispose();
hv_Epoch.Dispose();
hv_Iteration.Dispose();
hv_BatchStart.Dispose();
hv_BatchEnd.Dispose();
hv_BatchIndices.Dispose();
hv_BatchImageFiles.Dispose();
hv_BatchLabels.Dispose();
hv_GenParamName.Dispose();
hv_GenParamValue.Dispose();
hv_DLClassifierTrainResultHandle.Dispose();
hv_Loss.Dispose();
hv_CurrentIteration.Dispose();
hv_TrainingDLClassifierResultIDs.Dispose();
hv_ValidationDLClassifierResultIDs.Dispose();
hv_TrainingTop1Error.Dispose();
hv_ValidationTop1Error.Dispose();
hv_LearningRate.Dispose();
hvec_TrainingPredictedLabels.Dispose();
hvec_TrainingConfidences.Dispose();
hvec_ValidationPredictedLabels.Dispose();
hvec_ValidationConfidences.Dispose();
throw HDevExpDefaultException;
}
}
/// <summary>Constructor</summary>
/// <param name="obj">
/// HALCON object that is linked to the graphical context gc.
/// </param>
/// <param name="gc">
/// Hashlist of graphical states that are applied before the object
/// is displayed.
/// </param>
public HObjectEntry(HObject obj, Hashtable gc)
{
gContext = gc;
HObj = obj;
}
private void action()
{
int log = 0;
// Local iconic variables
HObject ho_Image, ho_MarkContours = null;
// Local control variables
HTuple hv_AllCalibImageFiles = null, hv_ImageFiles = null;
HTuple hv_Width = null, hv_Height = null, hv_CalibDataID = null;
HTuple hv_CalPlateDescr = null, hv_StartParam = null, hv_Index = null;
HTuple hv_StartPose = new HTuple(), hv_Error = null, hv_CameraParametersCalibrated = null;
HTuple hv_ParLabels = null;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Image);
HOperatorSet.GenEmptyObj(out ho_MarkContours);
//This example shows how to perform the basic calibration of a single
//camera with multiple images of a calibration object.
//Initialize visualization
list_image_files(ImagePath, "default", new HTuple(), out hv_AllCalibImageFiles);
HOperatorSet.TupleRegexpSelect(hv_AllCalibImageFiles, "calib_single_camera",
out hv_ImageFiles);
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, hv_ImageFiles);
HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height);
//
//Create the 3d object models that visualize the current configuration
//of camera and calibration plate. This may take a moment.
//
//Part I
//
//Create and setup the calibration model
//
//First, create the calibration data structure
HOperatorSet.CreateCalibData("calibration_object", 1, 1, out hv_CalibDataID);
//Specify the used calibration plane using the name of the
//description file
hv_CalPlateDescr = "calplate_" + txtCalibtate.Text + "mm.cpd";
try
{
HOperatorSet.SetCalibDataCalibObject(hv_CalibDataID, 0, hv_CalPlateDescr);
}
catch
{
if (log == 0)
{
log = 1;
}
}
double sx = System.Convert.ToDouble(txtSx.Text);
double sy = System.Convert.ToDouble(txtSy.Text);
hv_StartParam = new HTuple();
hv_StartParam[0] = System.Convert.ToDouble(txtFocus.Text);
hv_StartParam[1] = System.Convert.ToDouble(txtKappa.Text);
hv_StartParam[2] = sx * 1e-006;
hv_StartParam[3] = sy * 1e-006;
hv_StartParam[4] = System.Convert.ToDouble(txtCx.Text);
hv_StartParam[5] = System.Convert.ToDouble(txtCy.Text);
hv_StartParam[6] = System.Convert.ToDouble(txtIx.Text);
hv_StartParam[7] = System.Convert.ToDouble(txtIy.Text);
HOperatorSet.SetCalibDataCamParam(hv_CalibDataID, 0, "area_scan_division", hv_StartParam);
try
{
for (hv_Index = 0; (int)hv_Index <= (int)((new HTuple(hv_ImageFiles.TupleLength()
)) - 1); hv_Index = (int)hv_Index + 1)
{
try
{
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, hv_ImageFiles.TupleSelect(hv_Index));
HOperatorSet.FindCalibObject(ho_Image, hv_CalibDataID, 0, 0, hv_Index, new HTuple(),
new HTuple());
HOperatorSet.GetCalibDataObservPose(hv_CalibDataID, 0, 0, hv_Index, out hv_StartPose);
ho_MarkContours.Dispose();
HOperatorSet.GetCalibDataObservContours(out ho_MarkContours, hv_CalibDataID,
"marks", 0, 0, hv_Index);
//图像标定成功
txtLog.Text = txtLog.Text + "图像" + hv_Index.ToString() + "处理成功" + "\r\n" + DateTime.Now + "\r\n";
}
catch
{
if (log == 0)
{
txtLog.Text = txtLog.Text + "图像" + hv_Index.ToString() + "处理失败" + "\r\n" + DateTime.Now + "\r\n";
}
//图像标定失败
}
}
HOperatorSet.CalibrateCameras(hv_CalibDataID, out hv_Error);
HOperatorSet.GetCalibData(hv_CalibDataID, "camera", 0, "params", out hv_CameraParametersCalibrated);
HOperatorSet.GetCalibData(hv_CalibDataID, "camera", 0, "params_labels", out hv_ParLabels);
HOperatorSet.ClearCalibData(hv_CalibDataID);
ho_Image.Dispose();
ho_MarkContours.Dispose();
//txtLog.Clear();
txtLog.Text = txtLog.Text + "相机内参" + hv_CameraParametersCalibrated.ToString() + "\r\n" + DateTime.Now + "\r\n";
}
catch
{
if (log == 0)
{
log = 2;
}
}
switch (log)
{
case 1:
txtLog.Text = txtLog.Text + "相机参数错误，标定失败" + "\r\n" + DateTime.Now + "\r\n";
break;
case 2:
txtLog.Text = txtLog.Text + "图像质量出现问题，标定失败" + "\r\n" + DateTime.Now + "\r\n";
break;
default:
txtLog.Text = txtLog.Text + "标定成功" + "\r\n" + DateTime.Now + "\r\n";
break;
}
}
/// <summary>
/// Evaluates the area covered by the calibration plate in the calibration
/// image.
/// </summary>
public void eval_caltab_size(HObject ho_Image,
HObject ho_Caltab,
HObject ho_Marks,
out HTuple hv_SizeScore)
{
// Local iconic variables
HObject ho_Region = null, ho_RegionUnion = null;
// Local control variables
HTuple hv_Width, hv_Height, hv_Number, hv_Row1 = new HTuple();
HTuple hv_Column1 = new HTuple(), hv_Phi1 = new HTuple(), hv_Length1 = new HTuple();
HTuple hv_Length2 = new HTuple(), hv_Area = new HTuple(), hv_Row = new HTuple();
HTuple hv_Column = new HTuple(), hv_MinRatio, hv_MaxRatio;
HTuple hv_Ratio;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Region);
HOperatorSet.GenEmptyObj(out ho_RegionUnion);
hv_SizeScore = 0.0;
HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height);
HOperatorSet.CountObj(ho_Marks, out hv_Number);
if ((int)(new HTuple(hv_Number.TupleGreaterEqual(4))) != 0)
{
//Best approach: Use the surrounding box of the marks as reference size
ho_Region.Dispose();
HOperatorSet.GenRegionContourXld(ho_Marks, out ho_Region, "filled");
ho_RegionUnion.Dispose();
HOperatorSet.Union1(ho_Region, out ho_RegionUnion);
HOperatorSet.SmallestRectangle2(ho_RegionUnion, out hv_Row1, out hv_Column1,
out hv_Phi1, out hv_Length1, out hv_Length2);
hv_Area = (hv_Length2 * hv_Length1) * 4;
}
else
{
//If no marks could be found: use the caltab as reference size
HOperatorSet.AreaCenter(ho_Caltab, out hv_Area, out hv_Row, out hv_Column);
if ((int)((new HTuple(hv_Area.TupleEqual(0))).TupleOr(new HTuple(hv_Area.TupleEqual(
new HTuple())))) != 0)
{
ho_Region.Dispose();
ho_RegionUnion.Dispose();
return;
}
}
hv_MinRatio = 0.015;
hv_MaxRatio = 0.075;
hv_Ratio = (hv_Area.TupleReal()) / (hv_Width * hv_Height);
if ((int)(new HTuple(hv_Ratio.TupleGreater(hv_MinRatio))) != 0)
{
hv_SizeScore = (hv_Ratio - hv_MinRatio) / (hv_MaxRatio - hv_MinRatio);
hv_SizeScore = (((new HTuple(1.0)).TupleConcat(hv_SizeScore))).TupleMin();
}
ho_Region.Dispose();
ho_RegionUnion.Dispose();
return;
}
private void CalibFormMain_ChangeSide(int SideId, HObject arg1, HObject arg2, HObject arg3)
{
if (SideId != -1)
{
SideID = SideId;
}
if (arg1 != null)
{
hwindow_final.HobjectToHimage(arg1);
}
}
/// <summary>
/// Extracts the calibration plate and the marks on this plate
/// for the supplied image
/// </summary>
public void find_caltab_edges(HObject ho_Image,
out HObject ho_Caltab,
out HObject ho_Marks,
HTuple hv_DescriptionFileName)
{
// Stack for temporary objects
HObject[] OTemp = new HObject[20];
// Local iconic variables
HObject ho_ImageMean, ho_RegionDynThresh, ho_RegionBorder;
HObject ho_RegionOpening1, ho_ConnectedRegions1, ho_SelectedRegions4;
HObject ho_SelectedRegions5, ho_RegionBorder2, ho_RegionTrans;
HObject ho_RegionErosion, ho_RegionBorder1, ho_RegionDilation2;
HObject ho_RegionDifference1, ho_RegionOpening, ho_ConnectedRegions;
HObject ho_SelectedRegions2, ho_SelectedRegions, ho_RegionFillUp;
HObject ho_SelectedRegions1, ho_RegionIntersection, ho_RegionFillUp1;
HObject ho_RegionDifference, ho_CaltabCandidates, ho_ObjectSelected = null;
HObject ho_ConnectedMarks = null, ho_ObjectSelectedCaltab = null;
HObject ho_RegionFillUpCand, ho_MarksCand, ho_RegionDilation1;
HObject ho_ImageReduced, ho_DefaultEdges, ho_UnionContours;
HObject ho_SelectedXLD, ho_SelectedXLD1;
// Local control variables
HTuple hv_Width, hv_Height, hv_EstimatedCaltabSize;
HTuple hv_EstimatedMarkSize, hv_Number, hv_X, hv_Y, hv_Z;
HTuple hv_NumDescrMarks, hv_Index, hv_NumberMarks = new HTuple();
HTuple hv_Anisometry = new HTuple(), hv_Bulkiness = new HTuple();
HTuple hv_StructureFactor = new HTuple(), hv_AreaMarks = new HTuple();
HTuple hv_Row = new HTuple(), hv_Column = new HTuple(), hv_Rectangularity;
HTuple hv_SortedIndex, hv_IndexBest, hv_MinContrast, hv_NumberCand;
HTuple hv_Area, hv_Dummy, hv_DummyS, hv_AreaMedian;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Caltab);
HOperatorSet.GenEmptyObj(out ho_Marks);
HOperatorSet.GenEmptyObj(out ho_ImageMean);
HOperatorSet.GenEmptyObj(out ho_RegionDynThresh);
HOperatorSet.GenEmptyObj(out ho_RegionBorder);
HOperatorSet.GenEmptyObj(out ho_RegionOpening1);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions1);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions4);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions5);
HOperatorSet.GenEmptyObj(out ho_RegionBorder2);
HOperatorSet.GenEmptyObj(out ho_RegionTrans);
HOperatorSet.GenEmptyObj(out ho_RegionErosion);
HOperatorSet.GenEmptyObj(out ho_RegionBorder1);
HOperatorSet.GenEmptyObj(out ho_RegionDilation2);
HOperatorSet.GenEmptyObj(out ho_RegionDifference1);
HOperatorSet.GenEmptyObj(out ho_RegionOpening);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions2);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions1);
HOperatorSet.GenEmptyObj(out ho_RegionIntersection);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp1);
HOperatorSet.GenEmptyObj(out ho_RegionDifference);
HOperatorSet.GenEmptyObj(out ho_CaltabCandidates);
HOperatorSet.GenEmptyObj(out ho_ObjectSelected);
HOperatorSet.GenEmptyObj(out ho_ConnectedMarks);
HOperatorSet.GenEmptyObj(out ho_ObjectSelectedCaltab);
HOperatorSet.GenEmptyObj(out ho_RegionFillUpCand);
HOperatorSet.GenEmptyObj(out ho_MarksCand);
HOperatorSet.GenEmptyObj(out ho_RegionDilation1);
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_DefaultEdges);
HOperatorSet.GenEmptyObj(out ho_UnionContours);
HOperatorSet.GenEmptyObj(out ho_SelectedXLD);
HOperatorSet.GenEmptyObj(out ho_SelectedXLD1);
//
ho_Marks.Dispose();
HOperatorSet.GenEmptyObj(out ho_Marks);
ho_Caltab.Dispose();
HOperatorSet.GenEmptyObj(out ho_Caltab);
HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height);
hv_EstimatedCaltabSize = (((((hv_Width.TupleConcat(hv_Height))).TupleMax()) / 2.5)).TupleRound()
;
hv_EstimatedMarkSize = ((hv_EstimatedCaltabSize / 12.0)).TupleRound();
ho_ImageMean.Dispose();
HOperatorSet.MeanImage(ho_Image, out ho_ImageMean, hv_EstimatedMarkSize * 3, hv_EstimatedMarkSize * 3);
ho_RegionDynThresh.Dispose();
HOperatorSet.DynThreshold(ho_Image, ho_ImageMean, out ho_RegionDynThresh, 3,
"light");
ho_RegionBorder.Dispose();
HOperatorSet.DynThreshold(ho_Image, ho_ImageMean, out ho_RegionBorder, 20, "dark");
ho_RegionOpening1.Dispose();
HOperatorSet.OpeningCircle(ho_RegionBorder, out ho_RegionOpening1, 1.5);
ho_ConnectedRegions1.Dispose();
HOperatorSet.Connection(ho_RegionOpening1, out ho_ConnectedRegions1);
ho_SelectedRegions4.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions1, out ho_SelectedRegions4, "compactness",
"and", 17, 50);
ho_SelectedRegions5.Dispose();
HOperatorSet.SelectShape(ho_SelectedRegions4, out ho_SelectedRegions5, "anisometry",
"and", 1, 1.4);
ho_RegionBorder2.Dispose();
HOperatorSet.Boundary(ho_SelectedRegions5, out ho_RegionBorder2, "outer");
ho_SelectedRegions5.Dispose();
HOperatorSet.SelectShape(ho_RegionBorder2, out ho_SelectedRegions5, "circularity",
"and", 0.006, 1);
ho_RegionTrans.Dispose();
HOperatorSet.ShapeTrans(ho_SelectedRegions5, out ho_RegionTrans, "rectangle2");
ho_RegionErosion.Dispose();
HOperatorSet.ErosionCircle(ho_RegionTrans, out ho_RegionErosion, (hv_Width / 640.0) * 5.5);
ho_RegionBorder1.Dispose();
HOperatorSet.Boundary(ho_RegionErosion, out ho_RegionBorder1, "inner");
ho_RegionDilation2.Dispose();
HOperatorSet.DilationCircle(ho_RegionBorder1, out ho_RegionDilation2, 3.5);
ho_RegionDifference1.Dispose();
HOperatorSet.Difference(ho_RegionDynThresh, ho_RegionDilation2, out ho_RegionDifference1
);
ho_RegionOpening.Dispose();
HOperatorSet.OpeningCircle(ho_RegionDifference1, out ho_RegionOpening, (hv_Width / 640) * 1.5);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_RegionOpening, out ho_ConnectedRegions);
ho_SelectedRegions2.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions2, "area",
"and", (hv_EstimatedCaltabSize.TuplePow(2)) / 10, (hv_EstimatedCaltabSize.TuplePow(
2)) * 5);
ho_SelectedRegions.Dispose();
HOperatorSet.SelectShape(ho_SelectedRegions2, out ho_SelectedRegions, "compactness",
"and", 1.4, 10);
ho_RegionFillUp.Dispose();
HOperatorSet.FillUp(ho_SelectedRegions, out ho_RegionFillUp);
ho_SelectedRegions1.Dispose();
HOperatorSet.SelectShape(ho_RegionFillUp, out ho_SelectedRegions1, "rectangularity",
"and", 0.6, 1);
ho_RegionIntersection.Dispose();
HOperatorSet.Intersection(ho_SelectedRegions1, ho_RegionDynThresh, out ho_RegionIntersection
);
ho_RegionFillUp1.Dispose();
HOperatorSet.FillUp(ho_RegionIntersection, out ho_RegionFillUp1);
ho_RegionDifference.Dispose();
HOperatorSet.Difference(ho_RegionFillUp1, ho_RegionIntersection, out ho_RegionDifference
);
HOperatorSet.CountObj(ho_RegionDifference, out hv_Number);
ho_CaltabCandidates.Dispose();
HOperatorSet.GenEmptyObj(out ho_CaltabCandidates);
HOperatorSet.CaltabPoints(hv_DescriptionFileName, out hv_X, out hv_Y, out hv_Z);
hv_NumDescrMarks = new HTuple(hv_X.TupleLength());
for (hv_Index = 1; hv_Index.Continue(hv_Number, 1); hv_Index = hv_Index.TupleAdd(1))
{
ho_ObjectSelected.Dispose();
HOperatorSet.SelectObj(ho_RegionDifference, out ho_ObjectSelected, hv_Index);
ho_ConnectedMarks.Dispose();
HOperatorSet.Connection(ho_ObjectSelected, out ho_ConnectedMarks);
HOperatorSet.CountObj(ho_ConnectedMarks, out hv_NumberMarks);
HOperatorSet.Eccentricity(ho_ConnectedMarks, out hv_Anisometry, out hv_Bulkiness,
out hv_StructureFactor);
HOperatorSet.AreaCenter(ho_ConnectedMarks, out hv_AreaMarks, out hv_Row, out hv_Column);
ho_ObjectSelectedCaltab.Dispose();
HOperatorSet.SelectObj(ho_RegionIntersection, out ho_ObjectSelectedCaltab,
hv_Index);
if ((int)((new HTuple((new HTuple((new HTuple(hv_NumberMarks.TupleGreaterEqual(
10))).TupleAnd(new HTuple(hv_NumberMarks.TupleLess(hv_NumDescrMarks + 20))))).TupleAnd(
new HTuple(((((hv_Anisometry.TupleSort())).TupleSelect((new HTuple(hv_Anisometry.TupleLength()
)) / 2))).TupleLess(2))))).TupleAnd(new HTuple((new HTuple(hv_AreaMarks.TupleMean()
)).TupleGreater(20)))) != 0)
{
HOperatorSet.ConcatObj(ho_CaltabCandidates, ho_ObjectSelectedCaltab, out OTemp[0]
);
ho_CaltabCandidates.Dispose();
ho_CaltabCandidates = OTemp[0];
}
}
ho_RegionFillUpCand.Dispose();
HOperatorSet.FillUp(ho_CaltabCandidates, out ho_RegionFillUpCand);
HOperatorSet.Rectangularity(ho_RegionFillUpCand, out hv_Rectangularity);
if ((int)(new HTuple((new HTuple(hv_Rectangularity.TupleLength())).TupleEqual(
0))) != 0)
{
ho_ImageMean.Dispose();
ho_RegionDynThresh.Dispose();
ho_RegionBorder.Dispose();
ho_RegionOpening1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions4.Dispose();
ho_SelectedRegions5.Dispose();
ho_RegionBorder2.Dispose();
ho_RegionTrans.Dispose();
ho_RegionErosion.Dispose();
ho_RegionBorder1.Dispose();
ho_RegionDilation2.Dispose();
ho_RegionDifference1.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionFillUp.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionIntersection.Dispose();
ho_RegionFillUp1.Dispose();
ho_RegionDifference.Dispose();
ho_CaltabCandidates.Dispose();
ho_ObjectSelected.Dispose();
ho_ConnectedMarks.Dispose();
ho_ObjectSelectedCaltab.Dispose();
ho_RegionFillUpCand.Dispose();
ho_MarksCand.Dispose();
ho_RegionDilation1.Dispose();
ho_ImageReduced.Dispose();
ho_DefaultEdges.Dispose();
ho_UnionContours.Dispose();
ho_SelectedXLD.Dispose();
ho_SelectedXLD1.Dispose();
return;
}
hv_SortedIndex = hv_Rectangularity.TupleSortIndex();
hv_IndexBest = (((hv_SortedIndex.TupleInverse())).TupleSelect(0)) + 1;
ho_Caltab.Dispose();
HOperatorSet.SelectObj(ho_RegionFillUpCand, out ho_Caltab, hv_IndexBest);
ho_RegionFillUp.Dispose();
HOperatorSet.FillUp(ho_Caltab, out ho_RegionFillUp);
ho_MarksCand.Dispose();
HOperatorSet.Difference(ho_RegionFillUp, ho_RegionDynThresh, out ho_MarksCand
);
ho_RegionBorder.Dispose();
HOperatorSet.Boundary(ho_MarksCand, out ho_RegionBorder, "inner");
ho_RegionDilation1.Dispose();
HOperatorSet.DilationCircle(ho_RegionBorder, out ho_RegionDilation1, 9.5);
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(ho_Image, ho_RegionDilation1, out ho_ImageReduced);
hv_MinContrast = 10;
ho_DefaultEdges.Dispose();
HOperatorSet.EdgesSubPix(ho_ImageReduced, out ho_DefaultEdges, "canny", 2, hv_MinContrast / 2,
hv_MinContrast);
HOperatorSet.CountObj(ho_DefaultEdges, out hv_NumberCand);
if ((int)(new HTuple(hv_NumberCand.TupleLess(10))) != 0)
{
ho_ImageMean.Dispose();
ho_RegionDynThresh.Dispose();
ho_RegionBorder.Dispose();
ho_RegionOpening1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions4.Dispose();
ho_SelectedRegions5.Dispose();
ho_RegionBorder2.Dispose();
ho_RegionTrans.Dispose();
ho_RegionErosion.Dispose();
ho_RegionBorder1.Dispose();
ho_RegionDilation2.Dispose();
ho_RegionDifference1.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionFillUp.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionIntersection.Dispose();
ho_RegionFillUp1.Dispose();
ho_RegionDifference.Dispose();
ho_CaltabCandidates.Dispose();
ho_ObjectSelected.Dispose();
ho_ConnectedMarks.Dispose();
ho_ObjectSelectedCaltab.Dispose();
ho_RegionFillUpCand.Dispose();
ho_MarksCand.Dispose();
ho_RegionDilation1.Dispose();
ho_ImageReduced.Dispose();
ho_DefaultEdges.Dispose();
ho_UnionContours.Dispose();
ho_SelectedXLD.Dispose();
ho_SelectedXLD1.Dispose();
return;
}
ho_UnionContours.Dispose();
HOperatorSet.UnionCocircularContoursXld(ho_DefaultEdges, out ho_UnionContours,
0.5, 0.1, 0.2, 30, 10, 10, "true", 1);
ho_SelectedXLD.Dispose();
HOperatorSet.SelectShapeXld(ho_UnionContours, out ho_SelectedXLD, "area", "and",
30, 10000);
ho_SelectedXLD1.Dispose();
HOperatorSet.SelectShapeXld(ho_SelectedXLD, out ho_SelectedXLD1, "circularity",
"and", 0.4, 1);
ho_MarksCand.Dispose();
HOperatorSet.SelectShapeXld(ho_SelectedXLD1, out ho_MarksCand, "compactness",
"and", 1, 1.5);
HOperatorSet.AreaCenterXld(ho_MarksCand, out hv_Area, out hv_Dummy, out hv_Dummy,
out hv_DummyS);
HOperatorSet.CountObj(ho_MarksCand, out hv_Number);
if ((int)(new HTuple(hv_Number.TupleLess(4))) != 0)
{
ho_ImageMean.Dispose();
ho_RegionDynThresh.Dispose();
ho_RegionBorder.Dispose();
ho_RegionOpening1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions4.Dispose();
ho_SelectedRegions5.Dispose();
ho_RegionBorder2.Dispose();
ho_RegionTrans.Dispose();
ho_RegionErosion.Dispose();
ho_RegionBorder1.Dispose();
ho_RegionDilation2.Dispose();
ho_RegionDifference1.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionFillUp.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionIntersection.Dispose();
ho_RegionFillUp1.Dispose();
ho_RegionDifference.Dispose();
ho_CaltabCandidates.Dispose();
ho_ObjectSelected.Dispose();
ho_ConnectedMarks.Dispose();
ho_ObjectSelectedCaltab.Dispose();
ho_RegionFillUpCand.Dispose();
ho_MarksCand.Dispose();
ho_RegionDilation1.Dispose();
ho_ImageReduced.Dispose();
ho_DefaultEdges.Dispose();
ho_UnionContours.Dispose();
ho_SelectedXLD.Dispose();
ho_SelectedXLD1.Dispose();
return;
}
hv_AreaMedian = ((hv_Area.TupleSort())).TupleSelect(hv_Number / 2);
ho_Marks.Dispose();
HOperatorSet.SelectShapeXld(ho_MarksCand, out ho_Marks, "area", "and", hv_AreaMedian - (hv_AreaMedian * 0.5),
hv_AreaMedian + (hv_AreaMedian * 0.5));
ho_ImageMean.Dispose();
ho_RegionDynThresh.Dispose();
ho_RegionBorder.Dispose();
ho_RegionOpening1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions4.Dispose();
ho_SelectedRegions5.Dispose();
ho_RegionBorder2.Dispose();
ho_RegionTrans.Dispose();
ho_RegionErosion.Dispose();
ho_RegionBorder1.Dispose();
ho_RegionDilation2.Dispose();
ho_RegionDifference1.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionFillUp.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionIntersection.Dispose();
ho_RegionFillUp1.Dispose();
ho_RegionDifference.Dispose();
ho_CaltabCandidates.Dispose();
ho_ObjectSelected.Dispose();
ho_ConnectedMarks.Dispose();
ho_ObjectSelectedCaltab.Dispose();
ho_RegionFillUpCand.Dispose();
ho_MarksCand.Dispose();
ho_RegionDilation1.Dispose();
ho_ImageReduced.Dispose();
ho_DefaultEdges.Dispose();
ho_UnionContours.Dispose();
ho_SelectedXLD.Dispose();
ho_SelectedXLD1.Dispose();
return;
}
private void simpleButton1_Click(object sender, EventArgs e)
{
try
{
if (MessageBox.Show("是否标定Side" + (SideID + 1).ToString(), "Warning", MessageBoxButtons.YesNo) == DialogResult.No)
{
return;
}
HTuple row, col;
string ok = RunIntersection(out row, out col);
if (ok != "OK")
{
label_result.Text = ok;
label_result.BackColor = Color.Red;
return;
}
StringBuilder PixStr = new StringBuilder();
dataGridView1.Rows.Clear();
dataGridView1.AllowUserToAddRows = false;
if (MyGlobal.globalPointSet_Left.imgRotateArr[SideID] == 180)
{
row = row.TupleInverse();
col = col.TupleInverse();
}
for (int i = 0; i < row.Length; i++)
{
dataGridView1.Rows.Add();
dataGridView1.Rows[i].Cells[0].Value = i + 1;
dataGridView1.Rows[i].Cells[1].Value = Math.Round(col[i].D, 3);
dataGridView1.Rows[i].Cells[2].Value = Math.Round(row[i].D, 3);
hwindow_final.viewWindow.dispMessage("P" + (i + 1).ToString(), "green", row[i].D, col[i].D);
string data = Math.Round(row[i].D, 3).ToString() + "," + Math.Round(col[i].D, 3).ToString() + "\r\n";
PixStr.Append(data);
}
HObject cross = new HObject();
HOperatorSet.GenCrossContourXld(out cross, row, col, 15, 0.5);
hwindow_final.viewWindow.displayHobject(cross, "red", false, 3);
//计算标定
if (row.Length < 3)
{
MessageBox.Show(string.Format("当前标定像素点数{0}太少", row.Length));
return;
}
if (AxisX == null || AxisX.Length == 0)
{
return;
}
ParamPath.ToolType = MyGlobal.ToolType_Calib;
ParamPath.ParaName = MyGlobal.FindPointType_FitLineSet + "_" + "Side" + (SideID + 1).ToString();
ParamPath.IsRight = isRight;
if (File.Exists(ParamPath.Path_CalibPix))
{
File.Delete(ParamPath.Path_CalibPix);
}
ParamPath.WriteTxt(ParamPath.Path_CalibPix, PixStr.ToString());
HOperatorSet.VectorToHomMat2d(row, col, AxisX, AxisY, out HomMat2Dxy);
string Deviation = "";
RunCalibDeviation(row, col, out Deviation);
label_Score.Text = Deviation;
HOperatorSet.WriteTuple(HomMat2Dxy, ParamPath.Path_tup);
label_result.Text = "OK";
label_result.BackColor = Color.Green;
}
catch (Exception ex)
{
MessageBox.Show("标定失败" + ex.Message);
}
}
/// <summary>
/// Generate a contour in form of an arrow.
/// </summary>
private void gen_arrow_cont(out HObject ho_Arrow,
HTuple hv_Row1,
HTuple hv_Column1,
HTuple hv_Row2,
HTuple hv_Column2)
{
// Local iconic variables
HObject ho_Cross1, ho_Cross2, ho_CrossP1, ho_CrossP2;
// Local control variables
HTuple hv_Length, hv_Angle, hv_MinArrowLength;
HTuple hv_DRow, hv_DCol, hv_ArrowLength, hv_Phi, hv_P1R;
HTuple hv_P1C, hv_P2R, hv_P2C;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Arrow);
HOperatorSet.GenEmptyObj(out ho_Cross1);
HOperatorSet.GenEmptyObj(out ho_Cross2);
HOperatorSet.GenEmptyObj(out ho_CrossP1);
HOperatorSet.GenEmptyObj(out ho_CrossP2);
//Generate a contour in form of a arrow
hv_Length = 7;
hv_Angle = 40;
hv_MinArrowLength = 2;
hv_DRow = hv_Row2 - hv_Row1;
hv_DCol = hv_Column2 - hv_Column1;
hv_ArrowLength = (((hv_DRow * hv_DRow) + (hv_DCol * hv_DCol))).TupleSqrt();
if ((int)(new HTuple(hv_ArrowLength.TupleLess(hv_MinArrowLength))) != 0)
{
hv_Length = 0;
}
HOperatorSet.TupleAtan2(hv_DRow, -hv_DCol, out hv_Phi);
hv_P1R = hv_Row2 - (hv_Length * (((hv_Phi - (hv_Angle.TupleRad()))).TupleSin()));
hv_P1C = hv_Column2 + (hv_Length * (((hv_Phi - (hv_Angle.TupleRad()))).TupleCos()));
hv_P2R = hv_Row2 - (hv_Length * (((hv_Phi + (hv_Angle.TupleRad()))).TupleSin()));
hv_P2C = hv_Column2 + (hv_Length * (((hv_Phi + (hv_Angle.TupleRad()))).TupleCos()));
ho_Cross1.Dispose();
HOperatorSet.GenCrossContourXld(out ho_Cross1, hv_Row1, hv_Column1, 6, 0.785398);
ho_Cross2.Dispose();
HOperatorSet.GenCrossContourXld(out ho_Cross2, hv_Row2, hv_Column2, 6, 0.785398);
ho_CrossP1.Dispose();
HOperatorSet.GenCrossContourXld(out ho_CrossP1, hv_P1R, hv_P1C, 6, 0.785398);
ho_CrossP2.Dispose();
HOperatorSet.GenCrossContourXld(out ho_CrossP2, hv_P2R, hv_P2C, 6, 0.785398);
ho_Arrow.Dispose();
HOperatorSet.GenContourPolygonXld(out ho_Arrow, ((((((hv_Row1.TupleConcat(hv_Row2))).TupleConcat(
hv_P1R))).TupleConcat(hv_Row2))).TupleConcat(hv_P2R), ((((((hv_Column1.TupleConcat(
hv_Column2))).TupleConcat(hv_P1C))).TupleConcat(hv_Column2))).TupleConcat(
hv_P2C));
ho_Cross1.Dispose();
ho_Cross2.Dispose();
ho_CrossP1.Dispose();
ho_CrossP2.Dispose();
return;
}
/// <summary>
/// 执行
/// </summary>
/// <param name="image">图像</param>
/// <param name="outputs">输出结果</param>
/// <returns>执行结果</returns>
public void Execute(object image, out ItemCollection outputs)
{
HObject hImage = image as HObject;
outputs = new ItemCollection();
stopwatch.Restart();
HObject ho_Image20190904144527, ho_GrayImage;
HObject ho_Regions, ho_ConnectedRegions, ho_SelectedRegions;
HObject ho_ContCircle;
// Local control variables
HTuple hv_Number = new HTuple();
HTuple hv_Row = null, hv_Column = null, hv_Radius = null;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Image20190904144527);
HOperatorSet.GenEmptyObj(out ho_GrayImage);
HOperatorSet.GenEmptyObj(out ho_Regions);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
HOperatorSet.GenEmptyObj(out ho_ContCircle);
try
{
HTuple width, height;
HOperatorSet.GetImageSize(hImage, out width, out height);
//若未初始化,则进行初始化
if (!isInit)
{
isInit = true;
}
if (runningWindow == null)
{
try
{
runningWindow = (RunningWindow as HSmartWindowControlWPF).HalconWindow;
}
catch (Exception)
{
}
}
if (configWindow == null)
{
try
{
configWindow = (ConfigWindow as HSmartWindowControlWPF).HalconWindow;
}
catch (Exception)
{
}
}
if (runningWindow != null)
{
SetWindowPart(runningWindow, width, height);
HOperatorSet.ClearWindow(runningWindow);
HOperatorSet.DispObj(hImage, runningWindow);
}
if (configWindow != null)
{
SetWindowPart(configWindow, width, height);
HOperatorSet.ClearWindow(configWindow);
HOperatorSet.DispObj(hImage, configWindow);
}
//执行主任务
//转灰度图
ho_GrayImage.Dispose();
HOperatorSet.Rgb1ToGray(hImage, out ho_GrayImage);
//阈值分割
ho_Regions.Dispose();
HOperatorSet.Threshold(ho_GrayImage, out ho_Regions, new HTuple(Inputs["MinThreshold"].Value), new HTuple(Inputs["MaxThreshold"].Value));
//提取有效区域
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_Regions, out ho_ConnectedRegions);
ho_SelectedRegions.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions, "area",
"and", new HTuple(Inputs["BlobArea"].Value), 999999999);
HOperatorSet.CountObj(ho_SelectedRegions, out hv_Number);
if (hv_Number.I > 0)
{
//提取有效区域
HOperatorSet.SmallestCircle(ho_SelectedRegions, out hv_Row, out hv_Column, out hv_Radius);
ho_ContCircle.Dispose();
HOperatorSet.GenCircleContourXld(out ho_ContCircle, hv_Row, hv_Column, hv_Radius + 20,
0, 6.28318, "positive", 1);
var locations = new Location[hv_Column.Length];
for (int i = 0; i < hv_Column.Length; i++)
{
locations[i] = new Location(hv_Column[i].D, hv_Row[i].D, 0);
}
Outputs["ItemLocation"].Value = locations;
//显示结果
if (runningWindow != null)
{
HOperatorSet.DispObj(ho_GrayImage, runningWindow);
HOperatorSet.DispObj(ho_ContCircle, runningWindow);
disp_message(runningWindow, (hv_Column + new HTuple(",")) + hv_Row, "image",
hv_Row - 100, hv_Column + 100, "black", "true");
}
if (configWindow != null)
{
HOperatorSet.DispObj(ho_GrayImage, configWindow);
HOperatorSet.DispObj(ho_ContCircle, configWindow);
disp_message(configWindow, (hv_Column + new HTuple(",")) + hv_Row, "image",
hv_Row - 100, hv_Column + 100, "black", "true");
}
stopwatch.Stop();
RunStatus = new RunStatus(stopwatch.Elapsed.TotalMilliseconds);
}
else
{
//没有有效的结果
Outputs["ItemLocation"].Value = new Location[0];
stopwatch.Stop();
RunStatus = new RunStatus(stopwatch.Elapsed.TotalMilliseconds, EResult.Warning, "没找到有效目标");
}
outputs = new ItemCollection(Outputs);
}
catch (Exception ex)
{
stopwatch.Stop();
RunStatus = new RunStatus(stopwatch.Elapsed.TotalMilliseconds, EResult.Error, ex.Message, ex);
throw;
}
finally
{
hImage.Dispose();
ho_GrayImage.Dispose();
ho_Regions.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions.Dispose();
ho_ContCircle.Dispose();
}
}
private HObject extractEdges(HObject imageReduced)
{
HObject edges, contoursSplit;
HOperatorSet.GenEmptyObj(out edges);
HOperatorSet.GenEmptyObj(out contoursSplit);
//Edgesubpix
try
{
if (mMeasAssist.UseEdgeSubpix)
{
var alpha = mMeasAssist.EdgesAlpha;
var grayHigh = mMeasAssist.EdgesGrayHigh;
HOperatorSet.EdgesSubPix(imageReduced, out edges, _filter, alpha, _low, grayHigh);
}
else
{
HOperatorSet.ThresholdSubPix(imageReduced, out edges, mMeasAssist.SubpixThreadhold);
}
HOperatorSet.SegmentContoursXld(edges, out contoursSplit, _mode, _smoothCont, _maxLineDist1, _maxLineDist2);
}
catch (HOperatorException ex)
{
Hanbo.Log.LogManager.Error(ex);
}
return contoursSplit;
}
/// <summary>Constructor</summary>
/// <param name="obj">
/// HALCON object that is linked to the graphical context gc.
/// </param>
/// <param name="gc">
/// Hashlist of graphical states that are applied before the object
/// is displayed.
/// </param>
public HObjectEntry(HObject obj, Hashtable gc)
{
gContext = gc;
HObj = obj;
}
private FitLineResult fitline(HObject contoursSplit)
{
FitLineResult result = new FitLineResult()
{
Col1 = new HTuple(),
Row1 = new HTuple(),
Col2 = new HTuple(),
Row2 = new HTuple(),
};
//fitLine
HTuple number, rowBegin, colBegin, rowEnd, colEnd, nr, nc, dist;
HObject objectSelected;
HOperatorSet.GenEmptyObj(out objectSelected);
HTuple distance, preDistance = 0.0;
var fitlineContourAlgorithm = (mMeasAssist != null) ? new HTuple(mMeasAssist.FitLineAlgorithm) : _algorithm;
HOperatorSet.CountObj(contoursSplit, out number);
for (HTuple hv_i = 1; hv_i.Continue(number, 1); hv_i = hv_i.TupleAdd(1))
{
HOperatorSet.SelectObj(contoursSplit, out objectSelected, hv_i);
HOperatorSet.FitLineContourXld(objectSelected
, fitlineContourAlgorithm, _maxNumPoints, _clippingEndPoints, _iterations, _clippingFactor,
out rowBegin, out colBegin, out rowEnd, out colEnd, out nr, out nc, out dist);
HOperatorSet.DistancePp(rowBegin, colBegin, rowEnd, colEnd, out distance);
if (distance > preDistance)
{
preDistance = new HTuple(distance);
//Answer
result = new FitLineResult()
{
Row1 = new HTuple(rowBegin),
Col1 = new HTuple(colBegin),
Row2 = new HTuple(rowEnd),
Col2 = new HTuple(colEnd),
};
}
}
return result;
}
public StationStep StepGoSnap(VisionControl visionControl, bool bmanual = false)
{
StationStep step = StationStep.Step_Stop;
//拍照识别是否有料,计算偏差（6月后做）
ParamSetMgr.GetInstance().SetBoolParam("启动点胶", true);
//开始点胶(优先实现画轨迹)
//获取当前夹取位置是A工位还是B工位
int StationIndex = TableData.GetInstance().GetSocketNum(1, 0.5) - 1;
PathHelper.Disp_ID = StationIndex;
string stationAAName = StationIndex == 0 ? "A" : "B";
ParamSetMgr.GetInstance().SetBoolParam($"{stationAAName}工位点胶", true);
double CenterX = ParamSetMgr.GetInstance().GetDoubleParam("产品点胶X轴半径");
double CenterY = ParamSetMgr.GetInstance().GetDoubleParam("产品点胶Y轴半径");
double DelZ = ParamSetMgr.GetInstance().GetDoubleParam("点胶Z轴上升高度偏差");
int DispDelay = ParamSetMgr.GetInstance().GetIntParam("出胶延迟");
double DispRunAngle = ParamSetMgr.GetInstance().GetDoubleParam("画胶角度");
double DispEndAngle = ParamSetMgr.GetInstance().GetDoubleParam("收胶角度");
bool DispEnable = ParamSetMgr.GetInstance().GetBoolParam("屏蔽点胶");
bool DispPhoto = ParamSetMgr.GetInstance().GetBoolParam("点胶相机拍照定位");
double SafeZ = GetStationPointDic()[$"安全位置"].pointZ;
double X = 0;
double Y = 0;
double DispPhotoX = GetStationPointDic()[$"{stationAAName}工位拍照位"].pointX;
double DispPhotoY = GetStationPointDic()[$"{stationAAName}工位拍照位"].pointY;
double DispPhotoZ = GetStationPointDic()[$"{stationAAName}工位拍照位"].pointZ;
double DispPosX = GetStationPointDic()[$"{stationAAName}工位点胶位"].pointX;
double DispPosY = GetStationPointDic()[$"{stationAAName}工位点胶位"].pointY;
double DispPosZ = GetStationPointDic()[$"{stationAAName}工位点胶位"].pointZ;
double x1 = GetStationPointDic()["安全位置"].pointX;
CameraBase cam = null;
if (!ParamSetMgr.GetInstance().GetBoolParam("屏蔽上相机"))
{
cam = CameraMgr.GetInstance().GetCamera("Top");
cam.BindWindow(visionControl);
Task.Run(() =>
{
cam.StopGrap();
cam.SetTriggerMode(CameraModeType.Software);
cam.SetGain(ParamSetMgr.GetInstance().GetIntParam("点胶相机增益"));
cam.SetExposureTime(ParamSetMgr.GetInstance().GetIntParam("点胶相机曝光"));
cam.StartGrab();
});
}
IOMgr.GetInstace().WriteIoBit($"相机光源", true);
retry_uplens:
IOMgr.GetInstace().WriteIoBit($"{stationAAName}Lens升降气缸", true);
WaranResult waranResult1 = CheckIobyName($"{stationAAName}Lens上升到位", true, $"{stationAAName}Lens上升到位", bmanual);
if (waranResult1 == WaranResult.Retry)
{
goto retry_uplens;
}
MoveSigleAxisPosWaitInpos(AxisZ, SafeZ, (double)SpeedType.High, 0.005, bmanual, this);
MoveY(DispPhotoY, SpeedType.High);
MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisZ }, new double[] { DispPhotoX, DispPhotoZ }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 0.005, bmanual, this);
HObject img = null;
if (!ParamSetMgr.GetInstance().GetBoolParam("屏蔽上相机"))
{
img = cam.GetImage();
if (img == null || !img.IsInitialized())
{
img = cam.GetImage();
}
else
{
ImageHelper.Instance.SaveImage($"{PathHelper.ImagePathDisp}{DateTime.Now.ToString("HHmmssfff")}.bmp", "bmp", img.Clone());
}
}
IOMgr.GetInstace().WriteIoBit($"相机光源", false);
//去画胶
Task.Run(() =>
{
if (ParamSetMgr.GetInstance().GetBoolParam("是否选择程控电源"))
{
double valueVoltage = ParamSetMgr.GetInstance().GetDoubleParam("程控电源电压");
OtherDevices.ckPower.SetVoltage(StationIndex + 1, valueVoltage);
double valueCurrent = ParamSetMgr.GetInstance().GetDoubleParam("程控电源电流");
OtherDevices.ckPower.SetCurrent(StationIndex + 1, valueCurrent);
}
IOMgr.GetInstace().WriteIoBit($"{stationAAName}模组上电", true);
IOMgr.GetInstace().WriteIoBit($"12V开启", ParamSetMgr.GetInstance().GetBoolParam("是否开启非程控12V"));
});
if (DispEnable)
{
step = StationStep.Step_CheckIpos;
MoveSigleAxisPosWaitInpos(AxisZ, SafeZ, (double)SpeedType.High, 0.005, bmanual, this);
TableData.GetInstance().SetStationResult("A_UnLoadLoad", true);
TableData.GetInstance().SetStationResult("B_UnLoadLoad", true);
return(step);
}
if (DispPhoto)
{
////MoveY(DispPhotoY, SpeedType.High);
////MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisZ }, new double[] { DispPhotoX, DispPhotoZ }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 0.005, bmanual, this);
//拍照计算 +半径
double CenterdelX = 0;
double CenterdelY = 0;
X = CenterX + CenterdelX;
Y = CenterdelY;
DispPosX = DispPhotoX - X;
DispPosY = DispPhotoY + CenterdelY;
}
else
{
X = CenterX;
Y = 0;
}
// IOMgr.GetInstace().WriteIoBit("点胶机", false);
bool brtnExc = true;
MotionMgr.GetInstace().AddAxisToGroup("点胶群组", 2, new int[] { AxisX, AxisY });
MoveY(DispPosY, SpeedType.High);
MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisZ }, new double[] { DispPosX, DispPosZ + DelZ + 10 }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 0.005, bmanual, this);
// MoveMulitAxisPosWaitInpos(new int[] { AxisX }, new double[] { DispPosX }, new double[] { (double)SpeedType.High }, 0.005, bmanual, this);
IOMgr.GetInstace().WriteIoBit("点胶机", false);
MoveMulitAxisPosWaitInpos(new int[] { AxisZ }, new double[] { DispPosZ + DelZ }, new double[] { (double)SpeedType.High }, 0.005, bmanual, this);
if (ParamSetMgr.GetInstance().GetStringParam("点胶轨迹") == "Circle")
{
DateTime dateTime = DateTime.Now;
if (DispDelay >= 0)
{
IOMgr.GetInstace().WriteIoBit("点胶机", true);
Thread.Sleep(DispDelay);
}
else
{
Task.Run(() =>
{
while (true)
{
if ((DateTime.Now - dateTime).TotalSeconds > Math.Abs(DispDelay) / 1000.0)
{
IOMgr.GetInstace().WriteIoBit("点胶机", true);
break;
}
Thread.Sleep(10);
}
});
}
//走
brtnExc &= MotionMgr.GetInstace().ClearBufMove("点胶群组");
brtnExc &= MotionMgr.GetInstace().RestGpErr("点胶群组");
// GpState gps = MotionMgr.GetInstace().GetGpState("点胶群组");
brtnExc &= MotionMgr.GetInstace().AddBufMove("点胶群组", BufMotionType.buf_Arc2dAbsAngleCW, 1, 2, (double)SpeedType.Mid, (double)SpeedType.Mid, new double[2] {
X, Y
}, new double[2] {
DispPosZ, 0
});
brtnExc &= MotionMgr.GetInstace().BufTrans("点胶群组");//M314没有buf运动，所以放在这里star
brtnExc &= MotionMgr.GetInstace().BufStart("点胶群组");
Thread.Sleep(400);
if (!WaitXY(DispPosX, DispPosY))
{
IOMgr.GetInstace().WriteIoBit("点胶机", false);
return(step);
}
IOMgr.GetInstace().WriteIoBit("点胶机", false);
}
else
{
IOMgr.GetInstace().WriteIoBit("点胶机", true);
Thread.Sleep(DispDelay);
MoveY(DispPosY + CenterY * 10, SpeedType.Mid);
MoveMulitAxisPosWaitInpos(new int[] { AxisX }, new double[] { DispPosX + CenterX * 2 }, new double[] { (double)SpeedType.Mid }, 0.005, bmanual, this);
MoveY(DispPosY - CenterY * 10, SpeedType.Mid);
MoveMulitAxisPosWaitInpos(new int[] { AxisX }, new double[] { DispPosX }, new double[] { (double)SpeedType.Mid }, 0.005, bmanual, this);
MoveY(DispPosY, SpeedType.Mid);
IOMgr.GetInstace().WriteIoBit("点胶机", false);
}
IOMgr.GetInstace().WriteIoBit($"相机光源", true);
MoveMulitAxisPosWaitInpos(new int[] { AxisZ }, new double[] { DispPosZ + 3 }, new double[] { (double)SpeedType.Mid }, 0.005, bmanual, this);
MoveMulitAxisPosWaitInpos(new int[] { AxisZ }, new double[] { DispPosZ + 10 }, new double[] { (double)SpeedType.High }, 0.005, bmanual, this);
if (!ParamSetMgr.GetInstance().GetBoolParam("屏蔽上相机"))
{
MoveMulitAxisPosWaitInpos(new int[] { AxisX, AxisZ }, new double[] { DispPhotoX, DispPhotoZ }, new double[] { (double)SpeedType.High, (double)SpeedType.High }, 0.005, bmanual, this);
// MoveSigleAxisPosWaitInpos(AxisX, DispPhotoX, (double)SpeedType.High, 0.005, bmanual, this);
MoveY(DispPhotoY, SpeedType.High);
HObject img2 = cam.GetImage();
if (img2 == null || !img2.IsInitialized())
{
img2 = cam.GetImage();
}
else
{
ImageHelper.Instance.SaveImage($"{PathHelper.ImagePathDisp}{DateTime.Now.ToString("HHmmssfff")}.bmp", "bmp", img2.Clone());
}
}
IOMgr.GetInstace().WriteIoBit($"相机光源", false);
MoveMulitAxisPosWaitInpos(new int[] { AxisZ }, new double[] { SafeZ }, new double[] { (double)SpeedType.High }, 0.005, bmanual, this);
MoveSigleAxisPosWaitInpos(AxisX, x1, (double)SpeedType.High, 0.005, bmanual, this);
step = StationStep.Step_CheckIpos;
//if (DialogResult.OK!= MessageBox.Show("请确定点胶效果是否OK，OK按确定", "Info", MessageBoxButtons.OKCancel, MessageBoxIcon.Information, MessageBoxDefaultButton.Button1, MessageBoxOptions.DefaultDesktopOnly))
//{
// ParamSetMgr.GetInstance().SetBoolParam("重新上料", true);
// return step;
//}
ParamSetMgr.GetInstance().SetBoolParam("重新上料", false);
SocketMgr.GetInstance().SetSocketState(SocketNumOfUnloadLoad, SocketState.Have);
TableData.GetInstance().SetStationResult("A_UnLoadLoad", true);
TableData.GetInstance().SetStationResult("B_UnLoadLoad", true);
ParamSetMgr.GetInstance().SetBoolParam("点胶完成", true);
return(step);
}
/********************************************************************/
/* GRAPHICSSTACK -KEEP */
/********************************************************************/
/// <summary>
/// Adds an iconic object to the graphics stack similar to the way
/// it is defined for the HDevelop graphics stack.
/// </summary>
/// <param name="obj">Iconic object</param>
public void addIconicVarKeepSettings(HObject obj)
{
HObjectEntry entry;
if (obj == null)
return;
if ((obj is HImage) && (obj != null))
{
double r, c;
int h, w, area;
string s;
area = ((HImage)obj).GetDomain().AreaCenter(out r, out c);
((HImage)obj).GetImagePointer1(out s, out w, out h);
if (HObjList.Count == 0)
{
heightImagePart = h;
widthImagePart = w;
//adaptSize = true;
zoomWndFactor = (double)widthDisplayedImage / viewPort.Width;
resetImagePart(widthImagePart, heightImagePart);
}
if (area == (w * h))
{
clearList();
if ((h != heightImagePart) || (w != widthImagePart))
{
heightImagePart = h;
widthImagePart = w;
if ((widthDisplayedImage != w) || (heightDisplayedImage != h))
resetImagePart(w, h);
zoomWndFactor = (double)widthDisplayedImage / viewPort.Width;
}
}//if
widthDisplayedImage = w;
heightDisplayedImage = h;
}//if
entry = new HObjectEntry(obj, mGC.copyContextList());
HObjList.Add(entry);
if (HObjList.Count > MAXNUMOBJLIST)
HObjList.RemoveAt(1);
}
public bool GlueCheck(HObject Image1, HObject Image2)
{
bool result = true;
string pathImage = ParamSetMgr.GetInstance().GetStringParam("保存相机图片路径");
string path = pathImage + "\\" + DateTime.Now.ToString("yy-MM-dd") + "\\Fail\\";
HObject ModleImage = null; HTuple Number1 = null; HTuple Number2 = null; HTuple Number3 = null;
HObject modelROI = null; HTuple ModelID = null;
HObject ModleRoiCircle = null; HObject RoiCircle1 = null; HObject RoiCircle2 = null;
HObject ModleRoiRectangle = null; HObject RoiRectangle1 = null; HObject RoiRectangle2 = null;
HObject RegionDifference = null; HObject RegionDifference1 = null; HObject RegionDifference2 = null;
HObject ImageReduced = null; HObject ImageReduced1 = null; HObject ImageReduced2 = null;
HObject ImageSub = null; HObject RegionThreshold = null; HObject ConnectedRegions = null;
HObject SelectedRegions = null; HObject RegionClosing1 = null; HObject RegionClosing2 = null;
HObject Skeleton = null; HObject SelectedSkeleton = null; HObject SelectedSkeleton2 = null; HObject RegionUnion = null;
try
{
if (!Directory.Exists(path))
{
Directory.CreateDirectory(path);
}
//读取模板路径，模板参数
//string Modelpath = "D:\ProductFile\DF\Disp\GlueCheck\ModelImage.bmp";
//HTuple threshold = 30;
//HTuple closing = 2;
//HTuple modelCircleRow = 512.71; HTuple modelCircleCol = 838.492; HTuple modelCircleR = 97.1676;
//HTuple RoiCircleRow = 515.131; HTuple RoiCircleCol = 635.466; HTuple RoiCircleR = 61.896;
//HTuple RoiRectangleRow1 = 411.037; HTuple RoiRectangleCol1 = 542.693; HTuple RoiRectangleRow2 = 611.963; HTuple RoiRectangleCol2 = 724.206;
string Modelpath = ParamSetMgr.GetInstance().GetStringParam("点胶检查路径模板").Replace("\\", "\\\\");
HTuple threshold = ParamSetMgr.GetInstance().GetIntParam("点胶检查阈值");
HTuple closing = ParamSetMgr.GetInstance().GetIntParam("点胶检查闭合像素");
HTuple modelCircleRow = ParamSetMgr.GetInstance().GetDoubleParam("点胶检查模板Row");
HTuple modelCircleCol = ParamSetMgr.GetInstance().GetDoubleParam("点胶检查模板Col");
HTuple modelCircleR = ParamSetMgr.GetInstance().GetDoubleParam("点胶检查模板R");
HTuple RoiCircleRow = ParamSetMgr.GetInstance().GetDoubleParam("点胶检查CircleRow");
HTuple RoiCircleCol = ParamSetMgr.GetInstance().GetDoubleParam("点胶检查CircleCol");
HTuple RoiCircleR = ParamSetMgr.GetInstance().GetDoubleParam("点胶检查CircleR");
HTuple RoiRectangleRow1 = ParamSetMgr.GetInstance().GetDoubleParam("点胶检查RectangleRow1");
HTuple RoiRectangleCol1 = ParamSetMgr.GetInstance().GetDoubleParam("点胶检查RectangleCol1");
HTuple RoiRectangleRow2 = ParamSetMgr.GetInstance().GetDoubleParam("点胶检查RectangleRow2");
HTuple RoiRectangleCol2 = ParamSetMgr.GetInstance().GetDoubleParam("点胶检查RectangleCol2");
HTuple Row1 = null; HTuple Column1 = null; HTuple Angle1 = null; HTuple Score1 = null;
HTuple Row2 = null; HTuple Column2 = null; HTuple Angle2 = null; HTuple Score2 = null;
HOperatorSet.ReadImage(out ModleImage, Modelpath);
HOperatorSet.GenCircle(out modelROI, modelCircleRow, modelCircleCol, modelCircleR);
HOperatorSet.GenCircle(out ModleRoiCircle, RoiCircleRow, RoiCircleCol, RoiCircleR);
HOperatorSet.GenRectangle1(out ModleRoiRectangle, RoiRectangleRow1, RoiRectangleCol1, RoiRectangleRow2, RoiRectangleCol2);
HOperatorSet.Difference(ModleRoiRectangle, ModleRoiCircle, out RegionDifference);
HOperatorSet.ReduceDomain(Image1, modelROI, out ImageReduced);
HOperatorSet.CreateNccModel(ImageReduced, 3, -0.39, 0.79, 0.1, "use_polarity", out ModelID);
HOperatorSet.FindNccModel(Image1, ModelID, -0.39, 0.78, 0.8, 1, 0.5, "true", 0, out Row1, out Column1, out Angle1, out Score1);
HOperatorSet.FindNccModel(Image2, ModelID, -0.39, 0.78, 0.8, 1, 0.5, "true", 0, out Row2, out Column2, out Angle2, out Score2);
HOperatorSet.GenCircle(out RoiCircle1, RoiCircleRow - modelCircleRow + Row1, RoiCircleCol - modelCircleCol + Column1, RoiCircleR);
HOperatorSet.GenCircle(out RoiCircle2, RoiCircleRow - modelCircleRow + Row2, RoiCircleCol - modelCircleCol + Column2, RoiCircleR);
HOperatorSet.GenRectangle1(out RoiRectangle1, RoiRectangleRow1 - modelCircleRow + Row1, RoiRectangleCol1 - modelCircleCol + Column1, RoiRectangleRow2 - modelCircleRow + Row1, RoiRectangleCol2 - modelCircleCol + Column1);
HOperatorSet.GenRectangle1(out RoiRectangle2, RoiRectangleRow1 - modelCircleRow + Row2, RoiRectangleCol1 - modelCircleCol + Column2, RoiRectangleRow2 - modelCircleRow + Row2, RoiRectangleCol2 - modelCircleCol + Column2);
HOperatorSet.Difference(RoiRectangle1, RoiCircle1, out RegionDifference1);
HOperatorSet.Difference(RoiRectangle2, RoiCircle2, out RegionDifference2);
HOperatorSet.ReduceDomain(Image1, RegionDifference1, out ImageReduced1);
HOperatorSet.ReduceDomain(Image2, RegionDifference2, out ImageReduced2);
HOperatorSet.SubImage(ImageReduced1, ImageReduced2, out ImageSub, 1, 0);
HOperatorSet.Threshold(ImageSub, out RegionThreshold, threshold, 255);
HOperatorSet.ClosingCircle(RegionThreshold, out RegionClosing1, closing);
HOperatorSet.Connection(RegionClosing1, out ConnectedRegions);
HOperatorSet.SelectShape(ConnectedRegions, out SelectedRegions, "area", "and", 800, 99999);
HOperatorSet.CountObj(SelectedRegions, out Number1);
if (Number1.I < 1)
{
HOperatorSet.WriteImage(Image1.Clone(), "bmp", 0, $"{path}LoseGlue1_{DateTime.Now.ToString("yyMMdd_HHmmssfff")}.bmp");
HOperatorSet.WriteImage(Image2.Clone(), "bmp", 0, $"{path}LoseGlue2_{DateTime.Now.ToString("yyMMdd_HHmmssfff")}.bmp");
return(false);//无特征，漏胶
}
HOperatorSet.ClosingCircle(SelectedRegions, out RegionClosing2, closing);
HOperatorSet.Skeleton(RegionClosing2, out Skeleton);
HOperatorSet.SelectShape(Skeleton, out SelectedSkeleton, (((new HTuple("area")).TupleConcat("holes_num")).TupleConcat("column")).TupleConcat("row"), "and", (((new HTuple(300)).TupleConcat(0)).TupleConcat(300)).TupleConcat(300), (((new HTuple(1000000)).TupleConcat(1000)).TupleConcat(1000)).TupleConcat(1000));
// HOperatorSet.Union1(SelectedSkeleton, out RegionUnion);
HOperatorSet.CountObj(SelectedSkeleton, out Number2);
if (Number2.I < 1)
{
HOperatorSet.WriteImage(Image1.Clone(), "bmp", 0, $"{path}OpenGlueNoSkeleton1_{DateTime.Now.ToString("yyMMdd_HHmmssfff")}.bmp");
HOperatorSet.WriteImage(Image2.Clone(), "bmp", 0, $"{path}OpenGlueNoSkeleton2_{DateTime.Now.ToString("yyMMdd_HHmmssfff")}.bmp");
return(false);//无特征，断胶
}
else
{
HOperatorSet.SelectShape(SelectedSkeleton, out SelectedSkeleton2, "area_holes", "and", 10000, 99999999);
HOperatorSet.CountObj(SelectedSkeleton2, out Number3);
if (Number3.I != 1)
{
HOperatorSet.WriteImage(Image1.Clone(), "bmp", 0, $"{path}OpenGlue1AreaNum_{DateTime.Now.ToString("yyMMdd_HHmmssfff")}.bmp");
HOperatorSet.WriteImage(Image2.Clone(), "bmp", 0, $"{path}OpenGlue2AreaNum_{DateTime.Now.ToString("yyMMdd_HHmmssfff")}.bmp");
return(false);//无特征，断胶
}
}
}
catch
{
if (Image1 != null)
{
HOperatorSet.WriteImage(Image1.Clone(), "bmp", 0, $"{path}GlueErr1_{DateTime.Now.ToString("yyMMdd_HHmmssfff")}.bmp");
}
if (Image2 != null)
{
HOperatorSet.WriteImage(Image2.Clone(), "bmp", 0, $"{path}GlueErr2_{DateTime.Now.ToString("yyMMdd_HHmmssfff")}.bmp");
}
result = false;
}
finally
{
if (ModleImage != null)
{
ModleImage.Dispose();
}
if (modelROI != null)
{
modelROI.Dispose();
}
if (ModleRoiCircle != null)
{
ModleRoiCircle.Dispose();
}
if (RoiCircle1 != null)
{
RoiCircle1.Dispose();
}
if (RoiCircle2 != null)
{
RoiCircle2.Dispose();
}
if (ModleRoiRectangle != null)
{
ModleRoiRectangle.Dispose();
}
if (RoiRectangle1 != null)
{
RoiRectangle1.Dispose();
}
if (RoiRectangle2 != null)
{
RoiRectangle2.Dispose();
}
if (RegionDifference != null)
{
RegionDifference.Dispose();
}
if (RegionDifference1 != null)
{
RegionDifference1.Dispose();
}
if (RegionDifference2 != null)
{
RegionDifference2.Dispose();
}
if (ImageReduced != null)
{
ImageReduced.Dispose();
}
if (ImageReduced1 != null)
{
ImageReduced1.Dispose();
}
if (ImageReduced2 != null)
{
ImageReduced2.Dispose();
}
if (ImageSub != null)
{
ImageSub.Dispose();
}
if (RegionThreshold != null)
{
RegionThreshold.Dispose();
}
if (ConnectedRegions != null)
{
ConnectedRegions.Dispose();
}
if (SelectedRegions != null)
{
SelectedRegions.Dispose();
}
if (RegionClosing1 != null)
{
RegionClosing1.Dispose();
}
if (RegionClosing2 != null)
{
RegionClosing2.Dispose();
}
if (Skeleton != null)
{
Skeleton.Dispose();
}
if (SelectedSkeleton != null)
{
SelectedSkeleton.Dispose();
}
if (RegionUnion != null)
{
RegionUnion.Dispose();
}
if (Image1 != null)
{
Image1.Dispose();
}
if (Image2 != null)
{
Image2.Dispose();
}
}
return(result);
}
//畫方形輸入:顯示視窗 , 圖 , ROI資料--------------------------------------------------------------------
public void DrawRectangle(HTuple hwindows)
{
//Rectangle
HObject Mod_ROI_2 = null;
HObject ROI_2 = null;
HOperatorSet.GenEmptyObj(out Mod_ROI_2);
SettingLine(hwindows, "red", "margin", 2);
HOperatorSet.DrawRectangle2Mod(hwindows,
ImageHeight / 2,
ImageWidth / 2,
0,
50,
50,
out RowRectangle,
out ColumnRectangle,
out PhiRectangle,
out Length1Rectangle,
out Length2Rectangle);
//HOperatorSet.DrawRectangle2(hwindows,
// out RowRectangle,
// out ColumnRectangle,
// out PhiRectangle,
// out Length1Rectangle,
// out Length2Rectangle);
HOperatorSet.GenRectangle2(out ROI_2,
RowRectangle,
ColumnRectangle,
PhiRectangle,
Length1Rectangle,
Length2Rectangle);
HOperatorSet.ReduceDomain(Image, ROI_2, out Mod_ROI_2);
HOperatorSet.DispObj(ROI_2, hwindows);
ROI = ROI_2.Clone();
Mod_ROI = Mod_ROI_2.Clone();
ROI_2.Dispose();
Mod_ROI_2.Dispose();
}
public bool CalibrationMake(SourceBuffer _sourceBuffer, ExecuteBuffer _executeBuffer, out SourceBuffer outsourcebuffer, out ExecuteBuffer outexecutebuffer, HWndCtrl hWndCtrl, out string result_info)
{
outsourcebuffer = _sourceBuffer;
outexecutebuffer = _executeBuffer;
result_info = "";
HTuple hv_PixelSize = 0.00001;
HTuple hv_Message = new HTuple(), hv_Row = new HTuple();
HTuple hv_Column = new HTuple(), hv_Index = new HTuple();
HTuple hv_Error = null;
HObject ho_Contours = null, ho_Cross = null, hv_outimage = null;
HTuple hv_HomMat3DIdentity = null;
HTuple hv_cp1Hur1 = null, hv_cam2Hcp2 = null, hv_cam2Hul2 = null;
HTuple hv_PoseNewOrigin2 = null, hv_ULX = null, hv_ULY = null, hv_PoseNewOrigin = null;
double[] Get_actual_pixel = new double[7];
HTuple WorldPixelx, WorldPixely;
HTuple Heightx = new HTuple(), Widthx = new HTuple();
Heightx.Append(Height / 2);
Heightx.Append(Height / 2);
Heightx.Append(Height / 2 + 1);
Widthx.Append(Width / 2);
Widthx.Append(Width / 2 + 1);
Widthx.Append(Width / 2);
HTuple WorldLength1, WorldLength2;
HTuple ScaleForSimilarPixelSize = 0;
HOperatorSet.GenEmptyObj(out ho_Contours);
HOperatorSet.GenEmptyObj(out ho_Cross);
HOperatorSet.GenEmptyObj(out hv_outimage);
if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image.SelectedItem.ToString() + ".img"))
{
MessageBox.Show("二值化处理: 输入图像已经不存在，请重置设置输入图像");
result_info = " 二值化处理: 输入图像已经不存在，请重置设置输入图像";
return(false);
}
if (_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"] == null)
{
MessageBox.Show("二值化处理: image参数为空或者未赋值");
result_info = " 二值化处理: 输入图像已经不存在，请重置设置输入图像";
return(false);
}
string comboBox_imageoutname = this.Output_image.Text.ToString() + ".img";
if (_executeBuffer.imageBuffer[comboBox_imageoutname] != null)
{
if (_executeBuffer.imageBuffer[comboBox_imageoutname].IsInitialized())
{
_executeBuffer.imageBuffer[comboBox_imageoutname].Dispose();
}
}
HTuple width, height;
int m = _executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"].CountObj();
HOperatorSet.GetImageSize(_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"], out width, out height);
int number = Convert.ToInt32(this.textBox1.Text.ToString());
if (!this.checkBox1.Checked)
{
if (Get_Cal_pixel)
{
Get_Cal_pixel = false;
}
if (number == 0)
{
hv_StartCamPar = new HTuple();
if (this.checkBox_focalize.Checked)
{
hv_StartCamPar.Append(0);
}
else
{
hv_StartCamPar.Append(Convert.ToDouble(this.textbox_lens.Text.ToString()) / 100);
}
hv_StartCamPar.Append(0);
hv_StartCamPar.Append(Convert.ToDouble(this.textBox_width.Text.ToString()) / 10000000);
hv_StartCamPar.Append(Convert.ToDouble(this.textBox_height.Text.ToString()) / 10000000);
hv_StartCamPar.Append(width / 2);
hv_StartCamPar.Append(height / 2);
hv_StartCamPar.Append(width);
hv_StartCamPar.Append(height);
hv_CalTabDescrFile = this.textBox_file.Text;
HOperatorSet.CreateCalibData("calibration_object", 1, 1, out CalibDataID);
if (this.checkBox_focalize.Checked)
{
HOperatorSet.SetCalibDataCamParam(CalibDataID, 0, "area_scan_telecentric_division", hv_StartCamPar);
}
else
{
HOperatorSet.SetCalibDataCamParam(CalibDataID, 0, "area_scan_division", hv_StartCamPar);
}
HOperatorSet.SetCalibDataCalibObject(CalibDataID, 0, hv_CalTabDescrFile);
}
try
{
HOperatorSet.FindCalibObject(_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"], CalibDataID, 0, 0, number, new HTuple(), new HTuple());
HOperatorSet.GetCalibData(CalibDataID, "camera", 0, "init_params", out hv_StartCamPar);
HOperatorSet.GetCalibDataObservPoints(CalibDataID, 0, 0, number, out hv_Row, out hv_Column, out hv_Index, out hv_Pose);
HOperatorSet.GetCalibDataObservContours(out ho_Contours, CalibDataID, "caltab", 0, 0, number);
HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row, hv_Column, 6, 0.785398);
hWndCtrl.changeGraphicSettings(GraphicsContext.GC_COLOR, "orange");
hWndCtrl.addIconicVar(ho_Cross);
hWndCtrl.addIconicVar(ho_Contours);
hWndCtrl.repaint();
}
catch
{
MessageBox.Show("找不到标定板");
ho_Contours.Dispose();
ho_Cross.Dispose();
return(false);
}
if (number == hv_NumImages - 1)
{
Read_file = false;
HOperatorSet.CalibrateCameras(CalibDataID, out hv_Error);
HOperatorSet.GetCalibData(CalibDataID, "camera", 0, "params", out hv_CamParam);
HOperatorSet.GetCalibData(CalibDataID, "calib_obj_pose", (new HTuple(0)).TupleConcat(6), "pose", out hv_Pose);
HOperatorSet.HomMat3dIdentity(out hv_HomMat3DIdentity);
HOperatorSet.HomMat3dRotateLocal(hv_HomMat3DIdentity, ((-(hv_Pose.TupleSelect(5)))).TupleRad(), "z", out hv_cp1Hur1);
HOperatorSet.PoseToHomMat3d(hv_Pose, out hv_cam2Hcp2);
HOperatorSet.HomMat3dCompose(hv_cam2Hcp2, hv_cp1Hur1, out hv_cam2Hul2);
HOperatorSet.HomMat3dToPose(hv_cam2Hul2, out hv_PoseNewOrigin2);
HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_PoseNewOrigin2, 0, 0, "m", out hv_ULX, out hv_ULY);
HOperatorSet.SetOriginPose(hv_PoseNewOrigin2, hv_ULX, hv_ULY, 0, out hv_PoseNewOrigin);
HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_Pose, Heightx, Widthx, 1, out WorldPixelx, out WorldPixely);
HOperatorSet.DistancePp(WorldPixely[0], WorldPixelx[0], WorldPixely[1], WorldPixelx[1], out WorldLength1);
HOperatorSet.DistancePp(WorldPixely[0], WorldPixelx[0], WorldPixely[2], WorldPixelx[2], out WorldLength2);
ScaleForSimilarPixelSize = (WorldLength1 + WorldLength2) / 2;
HOperatorSet.GenImageToWorldPlaneMap(out ho_MapSingle1, hv_CamParam,
hv_PoseNewOrigin, width, height, width, height, ScaleForSimilarPixelSize, "bilinear");
HOperatorSet.WriteObject(ho_MapSingle1, this.textBox2.Text.ToString());
Read_file = true;
Get_Calibration = true;
this.checkBox1.Checked = true;
result_info = " 校正参数: 设置完成";
}
this.textBox1.Text = (number + 1).ToString();
}
if (this.checkBox1.Checked)
{
if (Read_file)
{
if (File.Exists(this.textBox2.Text))
{
HOperatorSet.ReadObject(out ho_MapSingle1, this.textBox2.Text);
}
else
{
MessageBox.Show("校正文件不存在 ，请检查");
return(false);
}
}
HOperatorSet.MapImage(_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"], ho_MapSingle1, out hv_outimage);
_executeBuffer.imageBuffer[comboBox_imageoutname] = hv_outimage;
outexecutebuffer = _executeBuffer;
result_info = " 校正: 完成";
HTuple Distance;
if (!Get_Cal_pixel)
{
try
{
double all_number = 0;
HOperatorSet.FindCalibObject(hv_outimage, CalibDataID, 0, 0, 0, new HTuple(), new HTuple());
HOperatorSet.GetCalibDataObservPoints(CalibDataID, 0, 0, 0, out hv_Row, out hv_Column, out hv_Index, out hv_Pose);
for (int i = 0; i < 7; i++)
{
HOperatorSet.DistancePp(hv_Row[i * 7], hv_Column[i * 7], hv_Row[i * 7 + 6], hv_Column[i * 7 + 6], out Distance);
Get_actual_pixel[i] = Distance.D;
all_number = all_number + Get_actual_pixel[i];
}
Pixel_number = (Convert.ToDouble(this.textBox_pixel.Text)) / (all_number / 7);
Get_Cal_pixel = true;
this.label_pixel.Text = Pixel_number.ToString();
Pixel_Trans = Convert.ToDouble(Pixel_number.ToString());
}
catch
{
MessageBox.Show("请再次添加图像寻找计算像素比");
}
}
if (Read_file)
{
ho_MapSingle1.Dispose();
}
}
return(true);
}
/// <summary>
/// Composes set of HALCON iconic objects to display
/// dimension of measure object
/// </summary>
/// <returns>Surrounding contour of measure object</returns>
public HObject getMeasureRegions()
{
HObject val;
HObject obj = new HObject();
obj.GenEmptyObj();
for (int i=0; i < mMeasureList.Count; i++)
{
val = ((Measurement)mMeasureList[i]).getMeasureRegion();
if (val.IsInitialized())
obj = obj.ConcatObj(val);
}
return obj;
}
/// <summary>
/// 圆心模板匹配
/// </summary>
/// <param name="window"></param>
/// <param name="image"></param>
/// <param name="ROIFileName"></param>
/// <param name="ModelFileName"></param>
/// <returns></returns>
public static double[] CenterMatch(Bitmap bmp, HWindow window)
{
try
{
HObject image, img_old;
HOperatorSet.GenEmptyObj(out image);
HOperatorSet.GenEmptyObj(out img_old);
img_old.Dispose();
Bitmap2HObject.Bitmap2HObj(bmp, out img_old);
HTuple htuple;
HOperatorSet.CountChannels(img_old, out htuple);
image.Dispose();
if (htuple == 3)
{
HOperatorSet.Rgb1ToGray(img_old, out image);
}
else
{
image = img_old.Clone();
}
HTuple width, height;
HOperatorSet.GetImageSize(image, out width, out height);
HOperatorSet.SetPart(window, 0, 0, height - 1, width - 1);
HOperatorSet.DispObj(image, window);
HOperatorSet.SetLineWidth(window, 3);
HOperatorSet.SetColor(window, "red");
double[] data = TempalteMatch.action(window, image, AppConfig.VisonPath + "\\CenterLocROI.hobj", AppConfig.VisonPath + "\\CenterModle.shm");
if (data[0] == -100 || data[1] == -100)
{
HOperatorSet.DispText(window, "识别失败",
"window", 12, 7, "black", new HTuple(), new HTuple());
try
{
SetString(window, "NG", "red", 100);
}
catch { }
return(data);
}
else
{
CenterLoc[0] = data[0];
CenterLoc[1] = data[1];
HObject ho_Cross = null;
HOperatorSet.DispText(window, "X像素：" + System.Math.Round(data[0], 4) + " Y像素：" + System.Math.Round(data[1], 4) + " pixel",
"window", 10, 7, "black", new HTuple(), new HTuple());
HOperatorSet.GenEmptyObj(out ho_Cross);
ho_Cross.Dispose();
HOperatorSet.GenCrossContourXld(out ho_Cross, data[1], data[0],
180, 0.785398);
//data[0] = (data[0] - width / 2) * 0.0096;
//data[1] = -1 * ((data[1] - height / 2) * 0.0096);
data[0] = (data[0] - width / 2) * Config.Instance.CameraPixelMM_X;
data[1] = 1 * ((data[1] - height / 2) * Config.Instance.CameraPixelMM_Y);
HOperatorSet.DispObj(ho_Cross, window);
HOperatorSet.DispText(window, "X方向偏差：" + System.Math.Round(data[0], 4) + " mm",
"window", 30, 7, "black", new HTuple(), new HTuple());
HOperatorSet.DispText(window, "Y方向偏差：" + System.Math.Round(data[1], 4) + " mm",
"window", 50, 7, "black", new HTuple(), new HTuple());
Marking.CenterLocateTestSucceed = true;
SetString(window, "OK", "green", 100);
return(data);
}
}
catch
{
try
{
SetString(window, "NG", "red", 100);
}
catch { }
Marking.CenterLocateTestSucceed = false;
return(null);
}
}
/// <summary>Constructor</summary>
/// <param name="obj">
/// HALCON object that is linked to the graphical context gc.
/// </param>
/// <param name="gc">
/// Hashlist of graphical states that are applied before the object
/// is displayed.
/// </param>
public HObjectEntry(HObject obj, Hashtable gc)
{
gContext = gc;
HObj = obj;
isRegion = false;
}
private double ImageAlgorithmII(HObject ho_ResultImage)
{
// Local iconic variables
HObject ho_ResultRegion = null;
HObject ho_ResultConnectedRegions = null, ho_ResultSelectedRegions = null;
HObject ho_ResultCircle = null, ho_ResultContour = null;
// Local control variables
HTuple hv_Width = null, hv_Height = null;
HTuple hv_MetrologyHandle = null, hv_CircleRadiusTolerance = null;
HTuple hv_NewRadius = null;
HTuple hv_ResultArea = new HTuple(), hv_ResultRow = new HTuple();
HTuple hv_ResultColumn = new HTuple(), hv_MetrologyCircleIndice = new HTuple();
HTuple hv_CircleRadiusResult = new HTuple();
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_ResultRegion);
HOperatorSet.GenEmptyObj(out ho_ResultConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_ResultSelectedRegions);
HOperatorSet.GenEmptyObj(out ho_ResultCircle);
HOperatorSet.GenEmptyObj(out ho_ResultContour);
HOperatorSet.GetImageSize(ho_ResultImage, out hv_Width, out hv_Height);
//创建测量模型
HOperatorSet.CreateMetrologyModel(out hv_MetrologyHandle);
//设置测量对象图像大小
HOperatorSet.SetMetrologyModelImageSize(hv_MetrologyHandle, hv_Width, hv_Height);
//
hv_CircleRadiusTolerance = 100;
//圆半径
hv_NewRadius = 324;
//阈值图像
ho_ResultRegion.Dispose();
HOperatorSet.Threshold(ho_ResultImage, out ho_ResultRegion, 0, 60);
//区域连通处理
ho_ResultConnectedRegions.Dispose();
HOperatorSet.Connection(ho_ResultRegion, out ho_ResultConnectedRegions);
//根据面积和圆度来过滤想要的圆区域
ho_ResultSelectedRegions.Dispose();
HOperatorSet.SelectShape(ho_ResultConnectedRegions, out ho_ResultSelectedRegions,
(new HTuple("area")).TupleConcat("roundness"), "and", (new HTuple(250000)).TupleConcat(
0.9), (new HTuple(320000)).TupleConcat(1));
//获取圆的中心坐标和面积
HOperatorSet.AreaCenter(ho_ResultSelectedRegions, out hv_ResultArea, out hv_ResultRow, out hv_ResultColumn);
HOperatorSet.SetColor(WindowID, "green");
//设置区域的填充模式
HOperatorSet.SetDraw(WindowID, "margin");
//显示图像
HOperatorSet.DispObj(ho_ResultImage, WindowID);
if (hv_ResultArea.Length != 0)
{
//生成圆
ho_ResultCircle.Dispose();
HOperatorSet.GenCircle(out ho_ResultCircle, hv_ResultRow, hv_ResultColumn, hv_NewRadius);
//添加圆到测量模型里
HOperatorSet.AddMetrologyObjectCircleMeasure(hv_MetrologyHandle, hv_ResultRow,
hv_ResultColumn, hv_NewRadius, hv_CircleRadiusTolerance, 5, 1.5, 30, (new HTuple("measure_transition")).TupleConcat(
"min_score"), (new HTuple("all")).TupleConcat(0.4), out hv_MetrologyCircleIndice);
//测量并拟合几何形状
HOperatorSet.ApplyMetrologyModel(ho_ResultImage, hv_MetrologyHandle);
//获取测量模型里的测量轮廓
ho_ResultContour.Dispose();
HOperatorSet.GetMetrologyObjectResultContour(out ho_ResultContour, hv_MetrologyHandle, "all", "all", 1.5);
//获取测量模型里的测量结果
HOperatorSet.GetMetrologyObjectResult(hv_MetrologyHandle, hv_MetrologyCircleIndice, "all", "result_type", "radius", out hv_CircleRadiusResult);
//显示测量轮廓
HOperatorSet.DispObj(ho_ResultContour, WindowID);
//设置文字显示位置
HOperatorSet.SetTposition(WindowID, 0, 0);
//* 在窗口指定位置输出文字信息
HOperatorSet.WriteString(WindowID, "圆外径:" + hv_CircleRadiusResult);
//清除测量模型
HOperatorSet.ClearMetrologyModel(hv_MetrologyHandle);
ho_ResultRegion.Dispose();
ho_ResultConnectedRegions.Dispose();
ho_ResultSelectedRegions.Dispose();
ho_ResultCircle.Dispose();
ho_ResultContour.Dispose();
return(hv_CircleRadiusResult.D);
}
else
{
ho_ResultRegion.Dispose();
ho_ResultConnectedRegions.Dispose();
ho_ResultSelectedRegions.Dispose();
ho_ResultCircle.Dispose();
ho_ResultContour.Dispose();
return(0);
}
}
