// Main procedure
private void action()
{
// Local iconic variables
HObject ho_Image, ho_Rectangle, ho_ImageReduced;
HObject ho_ModelContours, ho_ShowContours, ho_ModelContour;
HObject ho_MeasureContour, ho_ResultContours = null, ho_Contour = null;
HObject ho_UsedEdges = null, ho_Cross = null;
// Local control variables
HTuple hv_ImageFiles = null, hv_Width = null;
HTuple hv_Height = null, hv_WindowHandle = new HTuple();
HTuple hv_Area = null, hv_RowRefer = null, hv_ColRefer = null;
HTuple hv_ModelID = null, hv_HomMat2D = null, hv_MetrologyHandle = null;
HTuple hv_Line = null, hv_LineIndices = null, hv_Row = null;
HTuple hv_Column = null, hv_i = null, hv_RowFound = new HTuple();
HTuple hv_ColFound = new HTuple(), hv_AngleFound = new HTuple();
HTuple hv_ScoreFound = new HTuple(), hv_UsedRow = new HTuple();
HTuple hv_UsedColumn = new HTuple(), hv_Angle = new HTuple();
HTuple hv_Degree = new HTuple();
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Image);
HOperatorSet.GenEmptyObj(out ho_Rectangle);
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_ModelContours);
HOperatorSet.GenEmptyObj(out ho_ShowContours);
HOperatorSet.GenEmptyObj(out ho_ModelContour);
HOperatorSet.GenEmptyObj(out ho_MeasureContour);
HOperatorSet.GenEmptyObj(out ho_ResultContours);
HOperatorSet.GenEmptyObj(out ho_Contour);
HOperatorSet.GenEmptyObj(out ho_UsedEdges);
HOperatorSet.GenEmptyObj(out ho_Cross);
//dev_close_window(...);
//**读取图片所在路径**
list_image_files("Image", "default", new HTuple(), out hv_ImageFiles);
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, hv_ImageFiles.TupleSelect(0));
HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height);
//dev_open_window(...);
HOperatorSet.SetDraw(hv_ExpDefaultWinHandle, "margin");
HOperatorSet.SetLineWidth(hv_ExpDefaultWinHandle, 2);
HOperatorSet.DispObj(ho_Image, hv_ExpDefaultWinHandle);
//创建模板
ho_Rectangle.Dispose();
HOperatorSet.GenRectangle1(out ho_Rectangle, 400, 570, 550, 700);
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(ho_Image, ho_Rectangle, out ho_ImageReduced);
HOperatorSet.AreaCenter(ho_ImageReduced, out hv_Area, out hv_RowRefer, out hv_ColRefer);
HOperatorSet.CreateShapeModel(ho_ImageReduced, "auto", (new HTuple(-10)).TupleRad()
, (new HTuple(20)).TupleRad(), "auto", "auto", "use_polarity", "auto", "auto",
out hv_ModelID);
ho_ModelContours.Dispose();
HOperatorSet.GetShapeModelContours(out ho_ModelContours, hv_ModelID, 1);
HOperatorSet.VectorAngleToRigid(0, 0, 0, hv_RowRefer, hv_ColRefer, 0, out hv_HomMat2D);
ho_ShowContours.Dispose();
HOperatorSet.AffineTransContourXld(ho_ModelContours, out ho_ShowContours, hv_HomMat2D);
HOperatorSet.DispObj(ho_Image, hv_ExpDefaultWinHandle);
HOperatorSet.DispObj(ho_ShowContours, hv_ExpDefaultWinHandle);
//创建测量模板
HOperatorSet.CreateMetrologyModel(out hv_MetrologyHandle);
HOperatorSet.SetMetrologyModelImageSize(hv_MetrologyHandle, hv_Width, hv_Height);
//从左向右在矩形上边缘画一条直线*
hv_Line = new HTuple();
hv_Line[0] = 445;
hv_Line[1] = 600;
hv_Line[2] = 445;
hv_Line[3] = 670;
HOperatorSet.AddMetrologyObjectGeneric(hv_MetrologyHandle, "line", hv_Line, 25,
5, 1, 30, new HTuple(), new HTuple(), out hv_LineIndices);
ho_ModelContour.Dispose();
HOperatorSet.GetMetrologyObjectModelContour(out ho_ModelContour, hv_MetrologyHandle,
"all", 1.5);
ho_MeasureContour.Dispose();
HOperatorSet.GetMetrologyObjectMeasures(out ho_MeasureContour, hv_MetrologyHandle,
"all", "all", out hv_Row, out hv_Column);
//把测量的位置和模板的位置关联起来
HOperatorSet.SetMetrologyModelParam(hv_MetrologyHandle, "reference_system", ((hv_RowRefer.TupleConcat(
hv_ColRefer))).TupleConcat(0));
HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, hv_LineIndices, "measure_transition",
"positive");
HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, hv_LineIndices, "measure_select",
"first");
HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, hv_LineIndices, "measure_length1",
25);
HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, hv_LineIndices, "measure_length2",
5);
HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, hv_LineIndices, "measure_threshold",
15);
HOperatorSet.SetMetrologyObjectParam(hv_MetrologyHandle, hv_LineIndices, "min_score",
0.3);
for (hv_i = 0; (int)hv_i <= (int)((new HTuple(hv_ImageFiles.TupleLength())) - 1); hv_i = (int)hv_i + 1)
{
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, hv_ImageFiles.TupleSelect(hv_i));
HOperatorSet.FindShapeModel(ho_Image, hv_ModelID, (new HTuple(-10)).TupleRad()
, (new HTuple(20)).TupleRad(), 0.3, 1, 0.5, "least_squares", 0, 0.75, out hv_RowFound,
out hv_ColFound, out hv_AngleFound, out hv_ScoreFound);
if ((int)(new HTuple((new HTuple(1)).TupleEqual(new HTuple(hv_RowFound.TupleLength()
)))) != 0)
{
HOperatorSet.HomMat2dIdentity(out hv_HomMat2D);
HOperatorSet.HomMat2dRotate(hv_HomMat2D, hv_AngleFound, 0, 0, out hv_HomMat2D);
HOperatorSet.HomMat2dTranslate(hv_HomMat2D, hv_RowFound - 0, hv_ColFound - 0,
out hv_HomMat2D);
ho_ResultContours.Dispose();
HOperatorSet.AffineTransContourXld(ho_ModelContours, out ho_ResultContours,
hv_HomMat2D);
HOperatorSet.AlignMetrologyModel(hv_MetrologyHandle, hv_RowFound, hv_ColFound,
hv_AngleFound);
//应用测量
HOperatorSet.ApplyMetrologyModel(ho_Image, hv_MetrologyHandle);
//获取结果
ho_Contour.Dispose();
HOperatorSet.GetMetrologyObjectMeasures(out ho_Contour, hv_MetrologyHandle,
"all", "all", out hv_Row, out hv_Column);
HOperatorSet.GetMetrologyObjectResult(hv_MetrologyHandle, "all", "all", "used_edges",
"row", out hv_UsedRow);
HOperatorSet.GetMetrologyObjectResult(hv_MetrologyHandle, "all", "all", "used_edges",
"column", out hv_UsedColumn);
ho_UsedEdges.Dispose();
HOperatorSet.GenCrossContourXld(out ho_UsedEdges, hv_UsedRow, hv_UsedColumn,
10, (new HTuple(45)).TupleRad());
ho_ResultContours.Dispose();
HOperatorSet.GetMetrologyObjectResultContour(out ho_ResultContours, hv_MetrologyHandle,
"all", "all", 1.5);
ho_Cross.Dispose();
HOperatorSet.GenCrossContourXld(out ho_Cross, hv_RowFound, hv_ColFound, 40,
hv_AngleFound);
HOperatorSet.DispObj(ho_Image, hv_ExpDefaultWinHandle);
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "green");
HOperatorSet.DispObj(ho_Cross, hv_ExpDefaultWinHandle);
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "green");
HOperatorSet.DispObj(ho_ResultContours, hv_ExpDefaultWinHandle);
HOperatorSet.AngleLx(hv_UsedRow.TupleSelect(1), hv_UsedColumn.TupleSelect(
1), hv_UsedRow.TupleSelect(6), hv_UsedColumn.TupleSelect(6), out hv_Angle);
HOperatorSet.TupleDeg(hv_Angle, out hv_Degree);
disp_message(hv_ExpDefaultWinHandle, "定位成功！", "window", 12, 12, "black",
"true");
disp_message(hv_ExpDefaultWinHandle, ((((new HTuple("定位区域中心坐标") + "(") + hv_RowFound) + new HTuple(",")) + hv_ColFound) + ")",
"window", 32, 12, "black", "true");
HOperatorSet.TupleDeg(hv_AngleFound, out hv_Degree);
disp_message(hv_ExpDefaultWinHandle, ("相对模板角度为" + hv_Degree) + "°", "window",
52, 12, "black", "true");
}
else
{
disp_message(hv_ExpDefaultWinHandle, "没有找到模板", "window", hv_Row, hv_Column,
"black", "true");
}
HDevelopStop();
}
HOperatorSet.ClearMetrologyModel(hv_MetrologyHandle);
HOperatorSet.ClearShapeModel(hv_ModelID);
ho_Image.Dispose();
ho_Rectangle.Dispose();
ho_ImageReduced.Dispose();
ho_ModelContours.Dispose();
ho_ShowContours.Dispose();
ho_ModelContour.Dispose();
ho_MeasureContour.Dispose();
ho_ResultContours.Dispose();
ho_Contour.Dispose();
ho_UsedEdges.Dispose();
ho_Cross.Dispose();
}
// Main procedure
private void action()
{
// Local iconic variables
HObject ho_Image, ho_Rectangle, ho_ImageReduced;
HObject ho_Region, ho_ResultContour = null, ho_ContCircle = null;
HObject ho_Contour = null, ho_Cross = null;
// Local control variables
HTuple hv_WindowHandle = null, hv_Width = null;
HTuple hv_Height = null, hv_MetrologyHandle = null, hv_LineRow1 = null;
HTuple hv_LineColumn1 = null, hv_LineRow2 = null, hv_LineColumn2 = null;
HTuple hv_Tolerance = null, hv_Index1 = null, hv_Rows = null;
HTuple hv_Columns = null, hv_I = null, hv_LineParameter = new HTuple();
HTuple hv_Angle = new HTuple(), hv_Row = new HTuple();
HTuple hv_Column = new HTuple(), hv_IsOverlapping1 = new HTuple();
HTuple hv_Orientation1 = new HTuple(), hv_Orientation2 = new HTuple();
HTuple hv_MRow = new HTuple(), hv_MColumn = new HTuple();
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Image);
HOperatorSet.GenEmptyObj(out ho_Rectangle);
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_Region);
HOperatorSet.GenEmptyObj(out ho_ResultContour);
HOperatorSet.GenEmptyObj(out ho_ContCircle);
HOperatorSet.GenEmptyObj(out ho_Contour);
HOperatorSet.GenEmptyObj(out ho_Cross);
try
{
//This program shows how to detect the edges of a diamond
//with subpixel accuracy and calculate the angle between them.
//
//In contrast to the example measure_diamond.hdev,
//this example uses a metrology model to measure the edges.
//
//First, the top of the diamond is roughly segmented
//to align the metrology objects.
//Then, the metrology model is applied and returns the
//parameters of the fitted lines.
//Finally, the angle between the two lines is computed.
//
//Display initializations
dev_update_off();
if (HDevWindowStack.IsOpen())
{
HOperatorSet.CloseWindow(HDevWindowStack.Pop());
}
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, "diamond/diamond_01");
dev_open_window_fit_image(ho_Image, 0, 0, -1, -1, out hv_WindowHandle);
set_display_font(hv_WindowHandle, 16, "mono", "true", "false");
HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height);
//
//Create the metrology model data structure
HOperatorSet.CreateMetrologyModel(out hv_MetrologyHandle);
//The image size is set in advance to speed up the
//first call of apply_metrology_model.
HOperatorSet.SetMetrologyModelImageSize(hv_MetrologyHandle, hv_Width, hv_Height);
//Define the parameters of the metrology line objects
hv_LineRow1 = new HTuple();
hv_LineRow1[0] = 155;
hv_LineRow1[1] = 155;
hv_LineColumn1 = new HTuple();
hv_LineColumn1[0] = 400;
hv_LineColumn1[1] = 400;
hv_LineRow2 = new HTuple();
hv_LineRow2[0] = 290;
hv_LineRow2[1] = 290;
hv_LineColumn2 = new HTuple();
hv_LineColumn2[0] = 230;
hv_LineColumn2[1] = 570;
hv_Tolerance = 20;
//
//Create two metrology line objects and set parameters
HOperatorSet.AddMetrologyObjectLineMeasure(hv_MetrologyHandle, hv_LineRow1,
hv_LineColumn1, hv_LineRow2, hv_LineColumn2, hv_Tolerance, 10, 1, 20, new HTuple(),
new HTuple(), out hv_Index1);
//Create region of interest for the alignment
ho_Rectangle.Dispose();
HOperatorSet.GenRectangle1(out ho_Rectangle, (hv_LineRow1.TupleSelect(0)) - 40,
(hv_LineColumn1.TupleSelect(0)) - 50, (hv_LineRow1.TupleSelect(0)) + 20, (hv_LineColumn1.TupleSelect(
0)) + 50);
//Change the reference coordinate system in which the
//metrology model is given to be situated at the top of the diamond
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(ho_Image, ho_Rectangle, out ho_ImageReduced);
ho_Region.Dispose();
HOperatorSet.Threshold(ho_ImageReduced, out ho_Region, 128, 255);
HOperatorSet.GetRegionPoints(ho_Region, out hv_Rows, out hv_Columns);
HOperatorSet.SetMetrologyModelParam(hv_MetrologyHandle, "reference_system",
((((hv_Rows.TupleSelect(0))).TupleConcat(hv_Columns.TupleSelect(0)))).TupleConcat(
0));
//
//Main loop
//
for (hv_I = 1; (int)hv_I <= 5; hv_I = (int)hv_I + 1)
{
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, "diamond/diamond_" + (hv_I.TupleString(
"02")));
//Roughly segment the diamond's position
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(ho_Image, ho_Rectangle, out ho_ImageReduced);
ho_Region.Dispose();
HOperatorSet.Threshold(ho_ImageReduced, out ho_Region, 128, 255);
//Extract the top of the diamond
HOperatorSet.GetRegionPoints(ho_Region, out hv_Rows, out hv_Columns);
//
//Use the top of the diamond to align the metrology model in
//the current image
//
HOperatorSet.AlignMetrologyModel(hv_MetrologyHandle, hv_Rows.TupleSelect(
0), hv_Columns.TupleSelect(0), 0);
//
//
//Perform the measurement for both lines in one call
//
HOperatorSet.ApplyMetrologyModel(ho_Image, hv_MetrologyHandle);
//
//Access results
//
HOperatorSet.GetMetrologyObjectResult(hv_MetrologyHandle, "all", "all", "result_type",
"all_param", out hv_LineParameter);
HOperatorSet.AngleLl(hv_LineParameter.TupleSelect(0), hv_LineParameter.TupleSelect(
1), hv_LineParameter.TupleSelect(2), hv_LineParameter.TupleSelect(3),
hv_LineParameter.TupleSelect(4), hv_LineParameter.TupleSelect(5), hv_LineParameter.TupleSelect(
6), hv_LineParameter.TupleSelect(7), out hv_Angle);
hv_Angle = hv_Angle.TupleDeg();
//
//Display results
//
//Create line contours
ho_ResultContour.Dispose();
HOperatorSet.GetMetrologyObjectResultContour(out ho_ResultContour, hv_MetrologyHandle,
"all", "all", 1.5);
HOperatorSet.IntersectionLines(hv_LineParameter.TupleSelect(0), hv_LineParameter.TupleSelect(
1), hv_LineParameter.TupleSelect(2), hv_LineParameter.TupleSelect(3),
hv_LineParameter.TupleSelect(4), hv_LineParameter.TupleSelect(5), hv_LineParameter.TupleSelect(
6), hv_LineParameter.TupleSelect(7), out hv_Row, out hv_Column, out hv_IsOverlapping1);
//Calculate the orientation of the two lines
HOperatorSet.LineOrientation(hv_LineParameter.TupleSelect(0), hv_LineParameter.TupleSelect(
1), hv_LineParameter.TupleSelect(2), hv_LineParameter.TupleSelect(3),
out hv_Orientation1);
if ((int)(new HTuple(hv_Orientation1.TupleGreater(0))) != 0)
{
hv_Orientation1 = hv_Orientation1 - ((new HTuple(180)).TupleRad());
}
HOperatorSet.LineOrientation(hv_LineParameter.TupleSelect(4), hv_LineParameter.TupleSelect(
5), hv_LineParameter.TupleSelect(6), hv_LineParameter.TupleSelect(7),
out hv_Orientation2);
//
//Visualize the angle between the lines
ho_ContCircle.Dispose();
HOperatorSet.GenCircleContourXld(out ho_ContCircle, hv_Row, hv_Column, 100,
hv_Orientation1, hv_Orientation2, "positive", 1);
//Get the used measure regions and the measured points
//for visualization
ho_Contour.Dispose();
HOperatorSet.GetMetrologyObjectMeasures(out ho_Contour, hv_MetrologyHandle,
"all", "all", out hv_MRow, out hv_MColumn);
ho_Cross.Dispose();
HOperatorSet.GenCrossContourXld(out ho_Cross, hv_MRow, hv_MColumn, 6, (new HTuple(45)).TupleRad()
);
//Display everything
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_Image, HDevWindowStack.GetActive());
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetLineWidth(HDevWindowStack.GetActive(), 1);
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetColor(HDevWindowStack.GetActive(), "yellow");
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_Contour, HDevWindowStack.GetActive());
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_Cross, HDevWindowStack.GetActive());
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetLineWidth(HDevWindowStack.GetActive(), 2);
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetColor(HDevWindowStack.GetActive(), "green");
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_ResultContour, HDevWindowStack.GetActive());
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.SetColor(HDevWindowStack.GetActive(), "blue");
}
if (HDevWindowStack.IsOpen())
{
HOperatorSet.DispObj(ho_ContCircle, HDevWindowStack.GetActive());
}
disp_message(hv_WindowHandle, ("Angle = " + (hv_Angle.TupleString(".5"))) + "бу",
"window", 12, 12, "black", "true");
if ((int)(new HTuple(hv_I.TupleLess(5))) != 0)
{
disp_continue_message(hv_WindowHandle, "black", "true");
}
// stop(); only in hdevelop
}
//Clean up memory
HOperatorSet.ClearMetrologyModel(hv_MetrologyHandle);
}
catch (HalconException HDevExpDefaultException)
{
ho_Image.Dispose();
ho_Rectangle.Dispose();
ho_ImageReduced.Dispose();
ho_Region.Dispose();
ho_ResultContour.Dispose();
ho_ContCircle.Dispose();
ho_Contour.Dispose();
ho_Cross.Dispose();
throw HDevExpDefaultException;
}
ho_Image.Dispose();
ho_Rectangle.Dispose();
ho_ImageReduced.Dispose();
ho_Region.Dispose();
ho_ResultContour.Dispose();
ho_ContCircle.Dispose();
ho_Contour.Dispose();
ho_Cross.Dispose();
}
private void Camera3()
{
c2s = Module.SerializableTool.FromByFile <Module.Camera2Serializable>("cam2.sol");
//Image Acquisition 01: Code generated by Image Acquisition 01
hv_ImageFiles = new HTuple();
if (hv_ImageFiles == null)
{
hv_ImageFiles = new HTuple();
}
hv_ImageFiles[0] = "G:/防火砖缺陷检测/Image_20201109161631787.bmp";
if (hv_ImageFiles == null)
{
hv_ImageFiles = new HTuple();
}
hv_ImageFiles[1] = "G:/防火砖缺陷检测/Image_20201109161638427.bmp";
if (hv_ImageFiles == null)
{
hv_ImageFiles = new HTuple();
}
hv_ImageFiles[2] = "G:/防火砖缺陷检测/Image_20201109161641675.bmp";
if (hv_ImageFiles == null)
{
hv_ImageFiles = new HTuple();
}
hv_ImageFiles[3] = "G:/防火砖缺陷检测/Image_20201109161651523.bmp";
if (hv_ImageFiles == null)
{
hv_ImageFiles = new HTuple();
}
hv_ImageFiles[4] = "G:/防火砖缺陷检测/Image_20201109161654667.bmp";
if (hv_ImageFiles == null)
{
hv_ImageFiles = new HTuple();
}
hv_ImageFiles[5] = "G:/防火砖缺陷检测/Image_20201109161701411.bmp";
if (hv_ImageFiles == null)
{
hv_ImageFiles = new HTuple();
}
hv_ImageFiles[6] = "G:/防火砖缺陷检测/Image_20201109161704812.bmp";
if (hv_ImageFiles == null)
{
hv_ImageFiles = new HTuple();
}
hv_ImageFiles[7] = "G:/防火砖缺陷检测/Image_20201109161707571.bmp";
if (hv_ImageFiles == null)
{
hv_ImageFiles = new HTuple();
}
hv_ImageFiles[8] = "G:/防火砖缺陷检测/Image_20201109161715763.bmp";
if (hv_ImageFiles == null)
{
hv_ImageFiles = new HTuple();
}
hv_ImageFiles[9] = "G:/防火砖缺陷检测/Image_20201109161720699.bmp";
for (hv_Index = 0; (int)hv_Index <= (int)((new HTuple(hv_ImageFiles.TupleLength()
)) - 1); hv_Index = (int)hv_Index + 1)
{
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, hv_ImageFiles.TupleSelect(hv_Index));
HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height);
HOperatorSet.SetPart(hWindow_Final1.hWindowControl.HalconWindow, 0, 0, hv_Height, hv_Width);
}
ho_ImageEmphasize.Dispose();
HOperatorSet.Emphasize(ho_Image, out ho_ImageEmphasize, hv_Width, hv_Height,
1);
HOperatorSet.DispObj(ho_Image, hWindow_Final1.hWindowControl.HalconWindow);
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
HOperatorSet.FindScaledShapeModel(ho_Image, c2s.Modle, (new HTuple(0)).TupleRad()
, (new HTuple(360)).TupleRad(), 0.7, 1.3, 0.6, 0, 0.5, "none", 0, 0.3,
out hv_Row3, out hv_Column3, out hv_Angle3, out hv_Scale, out hv_Score);
}
HOperatorSet.TupleLength(hv_Score, out hv_Length);
if ((int)(new HTuple(hv_Length.TupleEqual(0))) != 0)
{
//disp_message(hWindow_Final1.hWindowControl.HalconWindow, "failed!!!!!!!!!!!!!!!", "window", 20,
// 20, "black", "true");
//disp_continue_message(hWindow_Final1.hWindowControl.HalconWindow, "black", "true");
////wait_seconds (2)
//HDevelopStop();
}
else
{
//hom_mat2d_identity (HomMat2DIdentity)
//hom_mat2d_translate (HomMat2DIdentity, Row, Column, HomMat2DTranslate)
//hom_mat2d_rotate (HomMat2DTranslate, Angle, Row, Column, HomMat2DRotate)
//hom_mat2d_scale (HomMat2DRotate, Scale, Scale, Row, Column, HomMat2DScale)
//affine_trans_contour_xld (ModelContours, ModelTrans, HomMat2DScale)
//dev_display (ModelTrans)
//下面开始测量尺寸
HOperatorSet.AlignMetrologyModel(c2s.MetrologyHandle, hv_Row3, hv_Column3,
hv_Angle3);
ho_ModelContour.Dispose();
HOperatorSet.GetMetrologyObjectModelContour(out ho_ModelContour, c2s.MetrologyHandle,
"all", 1.5);
//向图像应用测量模型
HOperatorSet.ApplyMetrologyModel(ho_Image, c2s.MetrologyHandle);
//获取测量卡尺
ho_Contour1.Dispose();
HOperatorSet.GetMetrologyObjectMeasures(out ho_Contour1, c2s.MetrologyHandle,
"all", "all", out hv_Row, out hv_Column);
HOperatorSet.TupleLength(hv_Score, out hv_Length);
if ((int)(new HTuple(hv_Length.TupleEqual(0))) != 0)
{
}
HOperatorSet.GetMetrologyObjectResult(c2s.MetrologyHandle, "all", "all", "used_edges",
"row", out hv_UsedRow);
HOperatorSet.GetMetrologyObjectResult(c2s.MetrologyHandle, "all", "all", "used_edges",
"column", out hv_UsedColumn);
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
ho_UsedEdges.Dispose();
HOperatorSet.GenCrossContourXld(out ho_UsedEdges, hv_UsedRow, hv_UsedColumn,
10, (new HTuple(45)).TupleRad());
}
//提取矩形边的长度
hv_RectIndices = 0;
HOperatorSet.GetMetrologyObjectResult(c2s.MetrologyHandle, hv_RectIndices,
"all", "result_type", "length1", out hv_Length1R);
HOperatorSet.GetMetrologyObjectResult(c2s.MetrologyHandle, hv_RectIndices,
"all", "result_type", "length2", out hv_Length2R);
//中心坐标及角度
HOperatorSet.GetMetrologyObjectResult(c2s.MetrologyHandle, hv_RectIndices,
"all", "result_type", "row", out hv_Parameter);
HOperatorSet.GetMetrologyObjectResult(c2s.MetrologyHandle, hv_RectIndices,
"all", "result_type", "column", out hv_Parameter1);
HOperatorSet.GetMetrologyObjectResult(c2s.MetrologyHandle, hv_RectIndices,
"all", "result_type", "phi", out hv_Parameter2);
HOperatorSet.SetColor(hWindow_Final1.hWindowControl.HalconWindow, "red");
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
ho_Cross2.Dispose();
HOperatorSet.GenCrossContourXld(out ho_Cross2, hv_Parameter, hv_Parameter1,
20, (new HTuple(45)).TupleRad());
}
//提取直线
//get_metrology_object_result (MetrologyHandle, 0, 'all', 'result_type', 'all_param', ParamLine1)
//get_metrology_object_result_contour (Contour, MetrologyHandle, 0, 'all', 1.5)
ho_ResultContours.Dispose();
HOperatorSet.GetMetrologyObjectResultContour(out ho_ResultContours, c2s.MetrologyHandle,
"all", "all", 1.5);
HOperatorSet.DispObj(ho_ImageEmphasize, hWindow_Final1.hWindowControl.HalconWindow);
HOperatorSet.SetLineWidth(hWindow_Final1.hWindowControl.HalconWindow, 1);
HOperatorSet.SetColor(hWindow_Final1.hWindowControl.HalconWindow, "light gray");
HOperatorSet.DispObj(ho_Contour1, hWindow_Final1.hWindowControl.HalconWindow);
HOperatorSet.SetColor(hWindow_Final1.hWindowControl.HalconWindow, "green");
HOperatorSet.SetLineWidth(hWindow_Final1.hWindowControl.HalconWindow, 2);
HOperatorSet.DispObj(ho_ResultContours, hWindow_Final1.hWindowControl.HalconWindow);
HOperatorSet.SetLineWidth(hWindow_Final1.hWindowControl.HalconWindow, 1);
HOperatorSet.SetColor(hWindow_Final1.hWindowControl.HalconWindow, "white");
HOperatorSet.DispObj(ho_UsedEdges, hWindow_Final1.hWindowControl.HalconWindow);
ho_Image.Dispose();
}
}
hv_ImageFiles.Dispose();
GC.Collect();
}
public bool FindMark(string FileName, out double centerRow, out double centerCol, out double angle)
{
bool result = false;
if (hv_ModelID == null)
{
GenMarkModel(out hv_ModelID, out ho_ModelContours, out hv_MetrologyHandle);
}
HObject ho_Image;
HObject ho_ResultContours = null, ho_Contour = null;
HObject ho_UsedEdges = null, ho_Cross = null;
HTuple hv_RowFound = new HTuple(), hv_ColFound = new HTuple(), hv_AngleFound = new HTuple();
HTuple hv_ScoreFound = new HTuple();
HTuple hv_HomMat2D = null;
HTuple hv_Column = null, hv_Row = null;
HTuple hv_UsedColumn = new HTuple(), hv_UsedRow = new HTuple();
HTuple hv_Angle = new HTuple(), hv_Degree = new HTuple();
HOperatorSet.GenEmptyObj(out ho_Image);
HOperatorSet.GenEmptyObj(out ho_ResultContours);
HOperatorSet.GenEmptyObj(out ho_Contour);
HOperatorSet.GenEmptyObj(out ho_UsedEdges);
HOperatorSet.GenEmptyObj(out ho_Cross);
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, FileName);
HOperatorSet.FindShapeModel(ho_Image, hv_ModelID, (new HTuple(-10)).TupleRad()
, (new HTuple(20)).TupleRad(), 0.3, 1, 0.5, "least_squares", 0, 0.75, out hv_RowFound,
out hv_ColFound, out hv_AngleFound, out hv_ScoreFound);
if ((int)(new HTuple((new HTuple(1)).TupleEqual(new HTuple(hv_RowFound.TupleLength()
)))) != 0)
{
HOperatorSet.HomMat2dIdentity(out hv_HomMat2D);
HOperatorSet.HomMat2dRotate(hv_HomMat2D, hv_AngleFound, 0, 0, out hv_HomMat2D);
HOperatorSet.HomMat2dTranslate(hv_HomMat2D, hv_RowFound - 0, hv_ColFound - 0,
out hv_HomMat2D);
ho_ResultContours.Dispose();
HOperatorSet.AffineTransContourXld(ho_ModelContours, out ho_ResultContours,
hv_HomMat2D);
HOperatorSet.DispObj(ho_Image, hv_ExpDefaultWinHandle);
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "red");
HOperatorSet.DispObj(ho_ResultContours, hv_ExpDefaultWinHandle);
HOperatorSet.AlignMetrologyModel(hv_MetrologyHandle, hv_RowFound, hv_ColFound,
hv_AngleFound);
//应用测量
HOperatorSet.ApplyMetrologyModel(ho_Image, hv_MetrologyHandle);
//获取结果
ho_Contour.Dispose();
HOperatorSet.GetMetrologyObjectMeasures(out ho_Contour, hv_MetrologyHandle,
"all", "all", out hv_Row, out hv_Column);
HOperatorSet.GetMetrologyObjectResult(hv_MetrologyHandle, "all", "all", "used_edges",
"row", out hv_UsedRow);
HOperatorSet.GetMetrologyObjectResult(hv_MetrologyHandle, "all", "all", "used_edges",
"column", out hv_UsedColumn);
ho_UsedEdges.Dispose();
HOperatorSet.GenCrossContourXld(out ho_UsedEdges, hv_UsedRow, hv_UsedColumn,
10, (new HTuple(45)).TupleRad());
ho_ResultContours.Dispose();
HOperatorSet.GetMetrologyObjectResultContour(out ho_ResultContours, hv_MetrologyHandle,
"all", "all", 1.5);
ho_Cross.Dispose();
HOperatorSet.GenCrossContourXld(out ho_Cross, hv_RowFound, hv_ColFound, 40,
hv_AngleFound);
//HOperatorSet.DispObj(ho_Image, hv_ExpDefaultWinHandle);
//HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "green");
//HOperatorSet.DispObj(ho_Cross, hv_ExpDefaultWinHandle);
//HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "green");
//HOperatorSet.DispObj(ho_ResultContours, hv_ExpDefaultWinHandle);
HOperatorSet.AngleLx(hv_UsedRow.TupleSelect(1), hv_UsedColumn.TupleSelect(
1), hv_UsedRow.TupleSelect(6), hv_UsedColumn.TupleSelect(6), out hv_Angle);
HOperatorSet.TupleDeg(hv_Angle, out hv_Degree);
//disp_message(hv_ExpDefaultWinHandle, "定位成功！", "window", 12, 12, "black",
// "true");
disp_message(hv_ExpDefaultWinHandle, ((((((new HTuple("mark位置：") + "[ ") + hv_RowFound) + new HTuple(",")) + hv_ColFound) + new HTuple(",")) + hv_Degree) + "° ]",
"window", 32, 12, "black", "true");
//相对模板角度
//HOperatorSet.TupleDeg(hv_AngleFound, out hv_Degree);
//disp_message(hv_ExpDefaultWinHandle, ("相对模板角度为" + hv_Degree) + "°", "window",
// 52, 12, "black", "true");
centerRow = hv_RowFound;
centerCol = hv_ColFound;
angle = hv_Degree;
result = true;
}
else
{
disp_message(hv_ExpDefaultWinHandle, "未识别到靶标", "window", hv_Row, hv_Column,
"black", "true");
centerRow = centerCol = angle = 0;
}
ho_Image.Dispose();
ho_ResultContours.Dispose();
ho_Contour.Dispose();
ho_UsedEdges.Dispose();
ho_Cross.Dispose();
return(result);
}
private void Run()
{
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
// ho_Image.Dispose();
//HOperatorSet.ReadImage(out ho_Image, hv_ImageFiles.TupleSelect(hv_Index));
HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height);
HOperatorSet.SetPart(hWindow_Final1.hWindowControl.HalconWindow, 0, 0, hv_Height, hv_Width);
}
ho_ImageEmphasize.Dispose();
HOperatorSet.Emphasize(ho_Image, out ho_ImageEmphasize, hv_Width, hv_Height,
1);
//HOperatorSet.DispObj(ho_Image, hWindow_Final1.hWindowControl.HalconWindow);
// hWindow_Final1.hWindowControl.HalconWindow.DispImage((HImage)ho_Image);
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
HOperatorSet.FindScaledShapeModel(ho_Image, c2s.Modle, (new HTuple(0)).TupleRad()
, (new HTuple(360)).TupleRad(), 0.5, 5, 0.6, 0, 0.5, "none", 0, 0.3,
out hv_Row3, out hv_Column3, out hv_Angle3, out hv_Scale, out hv_Score);
}
HOperatorSet.TupleLength(hv_Score, out hv_Length);
if ((int)(new HTuple(hv_Length.TupleEqual(0))) != 0)
{
//disp_message(hWindow_Final1.hWindowControl.HalconWindow, "failed!!!!!!!!!!!!!!!", "window", 20,
// 20, "black", "true");
//disp_continue_message(hWindow_Final1.hWindowControl.HalconWindow, "black", "true");
////wait_seconds (2)
//HDevelopStop();
}
else
{
//hom_mat2d_identity (HomMat2DIdentity)
//hom_mat2d_translate (HomMat2DIdentity, Row, Column, HomMat2DTranslate)
//hom_mat2d_rotate (HomMat2DTranslate, Angle, Row, Column, HomMat2DRotate)
//hom_mat2d_scale (HomMat2DRotate, Scale, Scale, Row, Column, HomMat2DScale)
//affine_trans_contour_xld (ModelContours, ModelTrans, HomMat2DScale)
//dev_display (ModelTrans)
//下面开始测量尺寸
HOperatorSet.AlignMetrologyModel(c2s.MetrologyHandle, hv_Row3, hv_Column3,
hv_Angle3);
ho_ModelContour.Dispose();
HOperatorSet.GetMetrologyObjectModelContour(out ho_ModelContour, c2s.MetrologyHandle,
"all", 1.5);
//向图像应用测量模型
HOperatorSet.ApplyMetrologyModel(ho_Image, c2s.MetrologyHandle);
//获取测量卡尺
ho_Contour1.Dispose();
HOperatorSet.GetMetrologyObjectMeasures(out ho_Contour1, c2s.MetrologyHandle,
"all", "all", out hv_Row, out hv_Column);
HOperatorSet.TupleLength(hv_Score, out hv_Length);
if ((int)(new HTuple(hv_Length.TupleEqual(0))) != 0)
{
}
HOperatorSet.GetMetrologyObjectResult(c2s.MetrologyHandle, "all", "all", "used_edges",
"row", out hv_UsedRow);
HOperatorSet.GetMetrologyObjectResult(c2s.MetrologyHandle, "all", "all", "used_edges",
"column", out hv_UsedColumn);
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
ho_UsedEdges.Dispose();
HOperatorSet.GenCrossContourXld(out ho_UsedEdges, hv_UsedRow, hv_UsedColumn,
10, (new HTuple(45)).TupleRad());
}
//提取矩形边的长度
hv_RectIndices = 0;
HOperatorSet.GetMetrologyObjectResult(c2s.MetrologyHandle, hv_RectIndices,
"all", "result_type", "length1", out hv_Length1R);
seqGray.Length1 = hv_Length1R.Length > 0? hv_Length1R.D : 0D;
HOperatorSet.GetMetrologyObjectResult(c2s.MetrologyHandle, hv_RectIndices,
"all", "result_type", "length2", out hv_Length2R);
seqGray.Length2 = hv_Length2R.Length > 0 ? hv_Length2R.D : 0D;
//中心坐标及角度
HOperatorSet.GetMetrologyObjectResult(c2s.MetrologyHandle, hv_RectIndices,
"all", "result_type", "row", out hv_Parameter);
seqGray.CenterX = hv_Parameter.Length > 0 ? hv_Parameter.D : 0D;;
HOperatorSet.GetMetrologyObjectResult(c2s.MetrologyHandle, hv_RectIndices,
"all", "result_type", "column", out hv_Parameter1);
seqGray.CenterY = hv_Parameter1 > 0 ? hv_Parameter1.D : 0D;
HOperatorSet.GetMetrologyObjectResult(c2s.MetrologyHandle, hv_RectIndices,
"all", "result_type", "phi", out hv_Parameter2);
seqGray.Rotate = hv_Parameter2 > 0 ? hv_Parameter2.D : 0D;
HOperatorSet.SetColor(hWindow_Final1.hWindowControl.HalconWindow, "red");
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
ho_Cross2.Dispose();
HOperatorSet.GenCrossContourXld(out ho_Cross2, hv_Parameter, hv_Parameter1,
20, (new HTuple(45)).TupleRad());
}
//提取直线
//get_metrology_object_result (MetrologyHandle, 0, 'all', 'result_type', 'all_param', ParamLine1)
//get_metrology_object_result_contour (Contour, MetrologyHandle, 0, 'all', 1.5)
ho_ResultContours.Dispose();
HOperatorSet.GetMetrologyObjectResultContour(out ho_ResultContours, c2s.MetrologyHandle,
"all", "all", 1.5);
HOperatorSet.DispObj(ho_ImageEmphasize, hWindow_Final1.hWindowControl.HalconWindow);
HOperatorSet.SetLineWidth(hWindow_Final1.hWindowControl.HalconWindow, 1);
HOperatorSet.SetColor(hWindow_Final1.hWindowControl.HalconWindow, "light gray");
HOperatorSet.DispObj(ho_Contour1, hWindow_Final1.hWindowControl.HalconWindow);
HOperatorSet.SetColor(hWindow_Final1.hWindowControl.HalconWindow, "green");
HOperatorSet.SetLineWidth(hWindow_Final1.hWindowControl.HalconWindow, 2);
HOperatorSet.DispObj(ho_ResultContours, hWindow_Final1.hWindowControl.HalconWindow);
HOperatorSet.SetLineWidth(hWindow_Final1.hWindowControl.HalconWindow, 1);
HOperatorSet.SetColor(hWindow_Final1.hWindowControl.HalconWindow, "white");
HOperatorSet.DispObj(ho_UsedEdges, hWindow_Final1.hWindowControl.HalconWindow);
}
}
