public void AffineTransPoint()
{
TransLocationCross.Clear();
ShapeMatchResult matchResult = Shape.OutputResult;
for (int i = 0; i < matchResult.Count; i++)
{
HHomMat2D mat2d = new HHomMat2D();
mat2d.VectorAngleToRigid(Shape.ModelImgRow, Shape.ModelImgCol, Shape.ModelimgAng,
matchResult.Row[i].D, matchResult.Col[i].D, matchResult.Angle[i].D);
PointF[] fs = Array.ConvertAll <Cross, PointF>(locationCross.GetAllPointFs(), e => e.Pixel);
HTuple tx, ty;
HOperatorSet.AffineTransPoint2d(mat2d,
Array.ConvertAll <PointF, double>(fs, e => e.Y).ToArray(),
Array.ConvertAll <PointF, double>(fs, e => e.X).ToArray(),
out ty,
out tx);
for (int m = 0; m < locationCross.Count; m++)
{
Cross cross = new Cross();
cross.Pixel = new PointF(tx[m].F, ty[m].F);
cross.Angle = matchResult.Angle[m].D;
cross.Color = "green";
TransLocationCross.Add(cross);
}
}
}
public Point3[] FindTempleteModel(int caneraId, int modelId)
{
CameraMgr.Inst[caneraId].CameraSoft();
if (CameraMgr.Inst[caneraId].WaiteGetImage(1000) == false)
{
Tool.Shapes[caneraId].OutputResult.Count = 0;
return(new Point3[0]);
}
lock (locker)
{
HImage image = CameraMgr.Inst[caneraId].GetCurrentImage();
List <Point3> list = new List <Point3>();
try
{
if (Tool.Shapes[modelId].InputImg != null)
{
Tool.Shapes[modelId].InputImg.Dispose();
}
Tool.Shapes[modelId].InputImg = image;
Tool.Shapes[modelId].FindModel();
ShapeMatchResult match = Tool.Shapes[modelId].OutputResult;
if (mainCamera[modelId] != null)
{
mainCamera[modelId].ReDraw();
}
if (match.Count > 0)
{
float row = CameraMgr.Inst[modelId].ImageSize.Height / 2f;
float col = CameraMgr.Inst[modelId].ImageSize.Width / 2f;
for (int i = 0; i < match.Count; i++)
{
CalibPointToPoint calib = Tool.Calibs[caneraId];
PointF pf;
calib.PixelPointToWorldPoint(new PointF(match.Col[i].F, match.Row[i].F),
out pf,
new PointF(col, row),
new PointF());
Point3 point = new Point3()
{
X = pf.X,
Y = pf.Y,
R = match.Angle.TupleDeg()[i].F
};
list.Add(point);
}
}
}
finally
{
}
return(list.ToArray());
}
}
// Debugging
public void OnGUI()
{
if (guiInfo == true)
{
ShapeMatchResult result = GetMatch(shapeA, shapeB, type);
GUI.Label(new Rect(0, 0, 500, 500), "Points Count: " + shapeA.pointsIn.Count + " + " + shapeB.pointsIn.Count + " = " + result.allPoints);
GUI.Label(new Rect(0, 20, 500, 500), "Points Similarity: " + result.pointsIn + " (" + (int)(result.percentage * 100) + "%)");
}
}
private void button13_Click(object sender, EventArgs e)
{
try
{
ShapeMatchResult OutPutResults = FindShapeModel();
int imgWidth, imgHeight;
shapeXLDModel.InputImg.GetImageSize(out imgWidth, out imgHeight);
float x = 0, y = 0;
bool flag = false;
if (OutPutResults.Count > 0)
{
PointF matchPoint = new PointF((float)OutPutResults.Col[0].F, (float)OutPutResults.Row[0].F);
PointF machinePoint;
PointF imgReferPoint = new PointF(imgWidth / 2f, imgHeight / 2f);
PointF CurrentLocation = new PointF();
CurrentLocation.X = CalibSetData.PlatformMove.AxisPosition[0];
CurrentLocation.Y = CalibSetData.PlatformMove.AxisPosition[1];
CalibSetData.Calib.PixelPointToWorldPoint(matchPoint, out machinePoint, imgReferPoint, CurrentLocation);
x = machinePoint.X;
y = machinePoint.Y;
flag = true;
}
if (flag == false)
{
MessageBox.Show("无匹配结果");
}
else
{
{
string info = "分数：" + OutPutResults.Score[0].F.ToString("f2") + ",X偏移" + (x - CalibSetData.PlatformMove.AxisPosition[0]).ToString("f2") +
"，Y偏移" + (y - CalibSetData.PlatformMove.AxisPosition[1]).ToString("f2") + ",是否移动到中心点？";
if (MessageBox.Show(info, "", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == System.Windows.Forms.DialogResult.Yes)
{
new Action(() =>
{
CalibSetData.PlatformMove.AbsMoving((float)x, (float)y, calibHeight);
CalibSetData.PlatformMove.WaitOnCompleteMoving();
Thread.Sleep(300);
FindShapeModel();
}).BeginInvoke(null, null);
}
}
}
}
catch (Exception ex)
{
MessageBox.Show("定位失败:" + ex.Message);
}
}
public void MoveImgCross()
{
try
{
ShapeMatchResult OutPutResults = FindShapeModel();
int imgWidth, imgHeight;
shapeXLDModel.InputImg.GetImageSize(out imgWidth, out imgHeight);
PointF worldCoord = new PointF();
if (PlatformMove != null)
{
worldCoord = GetWorldCoord();
}
float x = 0, y = 0;
bool flag = false;
if (OutPutResults.Count > 0)
{
PointF matchPoint = new PointF((float)OutPutResults.Col[0].F, (float)OutPutResults.Row[0].F);
PointF machinePoint;
PointF imgReferPoint = new PointF(imgWidth / 2f, imgHeight / 2f);
PointF CurrentLocation = new PointF();
CurrentLocation.X = (float)worldCoord.X;
CurrentLocation.Y = (float)worldCoord.Y;
CalibratePP.PixelPointToWorldPoint(matchPoint, out machinePoint, imgReferPoint, CurrentLocation);
x = machinePoint.X;
y = machinePoint.Y;
flag = true;
}
if (flag == false)
{
MessageBox.Show("无匹配结果");
}
else
{
if (PlatformMove == null)
{
string info = "分数：" + OutPutResults.Score[0].F.ToString("f2") + ",X偏移" + (x - worldCoord.X).ToString("f2") + "，Y偏移" + (y - worldCoord.Y).ToString("f2") + "。";
MessageBox.Show(info, "", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
else
{
string info = "分数：" + OutPutResults.Score[0].F.ToString("f2") + ",X偏移" + (x - worldCoord.X).ToString("f2") + "，Y偏移" + (y - worldCoord.Y).ToString("f2") + ",是否移动到中心点？";
if (MessageBox.Show(info, "", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == System.Windows.Forms.DialogResult.Yes)
{
new Action(() =>
{
PlatformMove.AbsMoving((float)x, (float)y, 0);
PlatformMove.WaitOnCompleteMoving();
Thread.Sleep(300);
FindShapeModel();
}).BeginInvoke(null, null);
}
}
}
}
catch (Exception ex)
{
MessageBox.Show("定位失败:" + ex.Message);
}
}
private void AutoMoveAxisCalibrate()
{
worldCoords.Clear();
PointF world = GetWorldCoord();
worldCoords.Add(new PointF()
{
X = world.X - MoveStep, Y = world.Y
});
worldCoords.Add(new PointF()
{
X = world.X, Y = world.Y - MoveStep
});
worldCoords.Add(new PointF()
{
X = world.X + MoveStep, Y = world.Y
});
worldCoords.Add(new PointF()
{
X = world.X, Y = world.Y + MoveStep
});
worldCoords.Add(new PointF()
{
X = world.X + MoveStep, Y = world.Y + MoveStep
});
worldCoords.Add(new PointF()
{
X = world.X + MoveStep, Y = world.Y - MoveStep
});
worldCoords.Add(new PointF()
{
X = world.X - MoveStep, Y = world.Y + MoveStep
});
worldCoords.Add(new PointF()
{
X = world.X - MoveStep, Y = world.Y - MoveStep
});
worldCoords.Add(new PointF()
{
X = world.X, Y = world.Y
});
bool IsClearCalibrateData = false;
for (int i = 0; i < worldCoords.Count && IsCalibrationRun == true;)
{
PlatformMove.AbsMoving((float)worldCoords[i].X, (float)worldCoords[i].Y, 0);
if (!PlatformMove.WaitOnCompleteMoving())
{
continue;
}
Thread.Sleep(1000);
ShapeMatchResult matchResult = FindShapeModel();
if (matchResult.Count > 0)
{
if (!IsClearCalibrateData)
{
CalibratePP.ClearCalibrationData();
IsClearCalibrateData = true;
}
CalibratePP.AddCalibratePoint(matchResult.Row[0].F, matchResult.Col[0].F, worldCoords[i].X, worldCoords[i].Y);
}
i++;
Thread.Sleep(100);
}
if (IsCalibrationRun == true)
{
CalibratePP.BuildTransferMatrix();
IsCalibrationRun = false;
if (CalibratePP.IsBuiltted)
{
MessageBox.Show("标定成功,像素误差" + CalibratePP.CalibrateError().ToString("f3"), "提示", MessageBoxButtons.OK, MessageBoxIcon.None, MessageBoxDefaultButton.Button1, MessageBoxOptions.ServiceNotification);
}
else
{
MessageBox.Show("标定失败", "提示", MessageBoxButtons.OK, MessageBoxIcon.None, MessageBoxDefaultButton.Button1, MessageBoxOptions.ServiceNotification);
}
}
}
private void AutoMoveAxisCalibrate()
{
if (!GenMovePoints())
{
IsCalibrationRun = false;
return;
}
movePoints.Add(new PointF(CalibSetData.PlatformMove.AxisPosition[0], CalibSetData.PlatformMove.AxisPosition[1]));
bool IsClearCalibrateData = false;
for (int i = 0; i < movePoints.Count && IsCalibrationRun == true;)
{
CalibSetData.PlatformMove.AbsMoving(movePoints[i].X, movePoints[i].Y, calibHeight);
if (!CalibSetData.PlatformMove.WaitOnCompleteMoving(5000))
{
continue;
}
Thread.Sleep(1000);
CalibSetData.GetImage.CameraSoft();
if (!CalibSetData.GetImage.WaiteGetImage(2000))
{
i++;
continue;;
}
ShapeMatchResult OutPutResults = FindShapeModel();
if (OutPutResults.Count == 0)
{
i++;
continue;
}
if (OutPutResults.Count > 0)
{
if (!IsClearCalibrateData)
{
CalibSetData.Calib.ClearCalibrationData();
IsClearCalibrateData = true;
}
CalibSetData.Calib.AddCalibratePoint(OutPutResults.Row[0].F, OutPutResults.Col[0].F, movePoints[i].X, movePoints[i].Y);
}
i++;
Thread.Sleep(100);
}
if (IsCalibrationRun == true)
{
CalibSetData.Calib.BuildTransferMatrix();
IsCalibrationRun = false;
if (CalibSetData.Calib.IsBuiltted)
{
MessageBox.Show("标定成功,像素误差" + CalibSetData.Calib.CalibrateError().ToString("f3"), "提示", MessageBoxButtons.OK, MessageBoxIcon.None, MessageBoxDefaultButton.Button1, MessageBoxOptions.ServiceNotification);
Product.Inst.Save();
}
else
{
MessageBox.Show("标定失败", "提示", MessageBoxButtons.OK, MessageBoxIcon.None, MessageBoxDefaultButton.Button1, MessageBoxOptions.ServiceNotification);
}
}
}
