/// <summary>
///
/// </summary>
/// <param name="iCamNo"></param>
/// <param name="iModelNo"></param>
/// <param name="dValue"></param>
/// <returns></returns>
public int SetSearchAcceptanceThreshold(int iCamNo, int iModelNo, double dValue)
{
#if SIMULATION_VISION
return SUCCESS;
#endif
// Vision System이 초기화 된지를 확인함
if (m_bSystemInit == false) return GenerateErrorCode(ERR_VISION_SYSTEM_FAIL);
if (!isValidPatternMarkNo(iModelNo))
return GenerateErrorCode(ERR_VISION_PATTERN_NONE);
if (dValue < 0.0 || dValue > 100.0)
return GenerateErrorCode(ERR_VISION_PARAMETER_UNFIT);
CVisionPatternData pSData = m_RefComp.Camera[iCamNo].GetSearchData(iModelNo);
if (pSData.m_milModel == MIL.M_NULL)
return GenerateErrorCode(ERR_VISION_PATTERN_NONE);
pSData.m_dAcceptanceThreshold = dValue;
MIL.MpatSetAcceptance(pSData.m_milModel, dValue);
MIL_ID SourceImage = m_RefComp.View[iCamNo].GetImage();
MIL.MpatPreprocModel(SourceImage, pSData.m_milModel, MIL.M_DEFAULT);
return SUCCESS;
}
/// <summary>
/// 등록된 Mark Search.. GMF는 적용안됨.
/// </summary>
/// <param name="iCamNo": Camera Number></param>
/// <param name="iModelNo": Model Mark Number></param>
/// <param name="pPatResult" : Result value Check></param>
/// <param name="bUseGMF" : Not Use></param>
/// <returns></returns>
public int RecognitionPatternMark(int iCamNo, int iModelNo, out CResultData pPatResult, bool bUseGMF = false)
{
// Vision System이 초기화 된지를 확인함
if (m_bSystemInit == false) goto VISION_ERROR_GO;
int iResult = 0;
CVisionPatternData pSData = m_RefComp.Camera[iCamNo].GetSearchData(iModelNo);
CResultData pSResult;
// 모델 생성 여부 확인
if (pSData.m_bIsModel == false) goto VISION_ERROR_GO;
// Mark Search 실행
iResult = m_RefComp.System.SearchByNGC(iCamNo, pSData, out pSResult);
if(iResult == SUCCESS)
{
pSResult.m_strResult = string.Format("-MK:{0} P_X:{1:0.00} P_Y:{2:0.00} \n Sc:{3:0.00}%% Tm:{4:0.0}ms",
iModelNo,
pSResult.m_dPixelX,
pSResult.m_dPixelY,
pSResult.m_dScore,
pSResult.m_dTime *1000);
if (pSResult.m_bSearchSuccess)
pSResult.m_strResult = "OK" + pSResult.m_strResult;
else
pSResult.m_strResult = "NG" + pSResult.m_strResult;
}
else
{
pSResult.m_strResult = string.Format("Camera{0} : Model : {1} is Not Found! \n [sc:{2:0.00}%% Tm:{3:0.0}ms",
iCamNo,
iModelNo,
pSResult.m_dScore,
pSResult.m_dTime *1000);
}
// Search 결과 대입
pPatResult = pSResult;
// Pattern Search Fail시 Image 저장
if (pSResult.m_bSearchSuccess==false)
{
if(m_bSaveErrorImage)
{
iResult = SaveImage(iCamNo,1,90);
if(iResult != SUCCESS)
{
return GenerateErrorCode(ERR_VISION_PATTERN_SEARCH_FAIL);
}
}
}
return SUCCESS;
// Vision Error 처리
VISION_ERROR_GO:
pPatResult = new CResultData();
return GenerateErrorCode(ERR_VISION_PATTERN_SEARCH_FAIL);
}
public MVisionCamera(CObjectInfo objInfo) : base(objInfo)
{
int iMarkNum = (int)EPatternMarkType.ALIGN_MARK_COUNT;
m_iCamID = 0;
m_iResult = 0;
m_bLive = false;
m_cCameraData = new CCameraData();
m_rgsCSearchData = new CVisionPatternData[iMarkNum];
m_rgsCResultData = new CResultData[iMarkNum];
for (int i = 0; i < iMarkNum; i++)
{
// Search Data Init
m_rgsCSearchData[i] = new CVisionPatternData();
m_rgsCSearchData[i].m_bIsModel = false;
m_rgsCSearchData[i].m_dAcceptanceThreshold = DEF_DEFAULT_ACCEP_THRESHOLD;
m_rgsCSearchData[i].m_dCertaintyThreshold = DEF_DEFAULT_CERTAIN_THRESHOLD;
// Result Data Init
m_rgsCResultData[i] = new CResultData();
m_rgsCResultData[i].m_bSearchSuccess = false;
m_rgsCResultData[i].m_milResult = MIL.M_NULL;
m_rgsCResultData[i].m_milGMFResult = MIL.M_NULL;
}
m_cCameraData.m_iGrabSettlingTime = 0;
m_cCameraData.m_iCameraChangeTime = 0;
}
/// <summary>
/// Search Area 설정
/// </summary>
/// <param name="iCamNo": Camera Number></param>
/// <param name="iModelNo": Model Mark Number></param>
/// <param name="SArea": Search Area Rectangle></param>
/// <returns></returns>
public int SetSearchArea(int iCamNo, int iModelNo, ref Rectangle SArea)
{
#if SIMULATION_VISION
return SUCCESS;
#endif
// Vision System이 초기화 된지를 확인함
if (m_bSystemInit == false) return GenerateErrorCode(ERR_VISION_SYSTEM_FAIL);
if (SArea.Width <= DEF_SEARCH_MIN_WIDTH || SArea.Height <= DEF_SEARCH_MIN_HEIGHT ||
SArea.Width > m_RefComp.Camera[iCamNo].m_CamPixelSize.Width || SArea.Height > m_RefComp.Camera[iCamNo].m_CamPixelSize.Height)
{
GenerateErrorCode(ERR_VISION_SEARCH_SIZE_OVER);
}
CVisionPatternData pSData = m_RefComp.Camera[iCamNo].GetSearchData(iModelNo);
pSData.m_rectSearch = SArea;
MIL.MpatSetPosition(pSData.m_milModel,
pSData.m_rectSearch.Left,
pSData.m_rectSearch.Top,
pSData.m_rectSearch.Width,
pSData.m_rectSearch.Height);
MIL.MpatPreprocModel(MIL.M_NULL, pSData.m_milModel, MIL.M_DEFAULT);
return SUCCESS;
}
public MIL_ID GetPatternImage(int iCamNo, int iModelNo)
{
// Vision System이 초기화 된지를 확인함
if (m_bSystemInit == false) return GenerateErrorCode(ERR_VISION_SYSTEM_FAIL);
CVisionPatternData pSData = m_RefComp.Camera[iCamNo].GetSearchData(iModelNo);
return pSData.m_milModel;
}
/// <summary>
/// Pattern Maching으로 Mark의 위치를 검색함
/// </summary>
/// <param name="iCam"></param>
/// <param name="pSdata"></param>
/// <param name="pRData"></param>
/// <returns></returns>
public int SearchByNGC(int iCamNo, CVisionPatternData pSdata, out CResultData pRData)
{
MIL_ID m_MilImage = m_pDisplay[iCamNo].GetImage();
MIL_ID m_DisplayGraph = m_pDisplay[iCamNo].GetViewGraph();
CResultData pResult = new CResultData();
Point RectOffset = new Point();
// Mark Search Timer Reset
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET + MIL.M_SYNCHRONOUS, MIL.M_NULL);
// Mark Search Command
MIL.MpatFindModel(m_MilImage, pSdata.m_milModel, m_SearchResult);
// Mark Search Timer Check
MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref pResult.m_dTime);
if (MIL.MpatGetNumber(m_SearchResult) == 1L)
{
// Display Mark Area
//MIL.MgraClear(MIL.M_DEFAULT, m_DisplayGraph);
m_pDisplay[iCamNo].ClearOverlay();
MIL.MgraColor(MIL.M_DEFAULT, MIL.M_COLOR_GREEN);
MIL.MpatDraw(MIL.M_DEFAULT, m_SearchResult, m_DisplayGraph, MIL.M_DRAW_BOX, MIL.M_DEFAULT, MIL.M_DEFAULT);
//DisplaySearchResult();
MIL.MpatGetResult(m_SearchResult, MIL.M_POSITION_X, ref pResult.m_dPixelX);
MIL.MpatGetResult(m_SearchResult, MIL.M_POSITION_Y, ref pResult.m_dPixelY);
MIL.MpatGetResult(m_SearchResult, MIL.M_SCORE, ref pResult.m_dScore);
RectOffset.X = (int)pResult.m_dPixelX - pSdata.m_pointReference.X - pSdata.m_rectSearch.X;
RectOffset.Y = (int)pResult.m_dPixelY - pSdata.m_pointReference.Y - pSdata.m_rectSearch.Y;
pResult.m_rectFindedModel = pSdata.m_rectModel;
pResult.m_rectFindedModel.Offset(RectOffset);
pResult.m_rectSearch = pSdata.m_rectSearch;
if (pResult.m_dScore > pSdata.m_dAcceptanceThreshold)
{
pResult.m_bSearchSuccess = true;
// Result Data 전달
pRData = pResult;
return(SUCCESS);
}
}
// Search Data를 초기화 한다.
pResult.m_bSearchSuccess = false;
pResult.m_dPixelX = 0.0;
pResult.m_dPixelY = 0.0;
pResult.m_rectSearch = new Rectangle(0, 0, 0, 0);
pResult.m_rectFindedModel = new Rectangle(0, 0, 0, 0);
// Result Data 전달
pRData = pResult;
return(GenerateErrorCode(ERR_VISION_PATTERN_SEARCH_FAIL));
}
/// <summary>
/// SaveModelImage: Model Image를 저장함.
/// </summary>
/// <param name="strPath"></param>
/// <param name="iModelNo"></param>
/// <returns></returns>
public bool SaveModelImage(string strPath, int iModelNo)
{
CVisionPatternData pSData = m_pCamera.GetSearchData(iModelNo);
if (pSData.m_ModelImage == MIL.M_NULL)
{
return(false);
}
MIL.MbufExport(strPath, MIL.M_BMP, pSData.m_ModelImage);
return(true);
}
public int ReloadModel(int iCamNo, ref CVisionPatternData pSData)
{
if (pSData.m_bIsModel == false)
{
return(GenerateErrorCode(ERR_VISION_PATTERN_NONE));
}
MIL_ID m_MilImage = MIL.M_NULL;
// Image Load...
string strLoadFileName = pSData.m_strFilePath + pSData.m_strFileName;
MIL.MbufRestore(strLoadFileName, m_MilSystem, ref m_MilImage);
//Draw할 Rec을 생성한다.
Rectangle pRec = new Rectangle(pSData.m_rectModel.X - pSData.m_rectModel.Width / 2,
pSData.m_rectModel.Y - pSData.m_rectModel.Height / 2,
pSData.m_rectModel.Width, pSData.m_rectModel.Height);
// Allocate a normalized grayscale model.
MIL.MpatAllocModel(m_MilSystem, m_MilImage, pRec.X, pRec.Y,
pRec.Width, pRec.Height, MIL.M_NORMALIZED, ref pSData.m_milModel);
// Model Image Save (Image View Save용)
MIL.MbufAlloc2d(m_MilSystem, pRec.Width, pRec.Height, MIL.M_UNSIGNED + 8, MIL.M_IMAGE + MIL.M_PROC + MIL.M_DISP,
ref pSData.m_ModelImage);
MIL.MbufCopyColor2d(m_MilImage, pSData.m_ModelImage, MIL.M_ALL_BANDS, pRec.X, pRec.Y,
MIL.M_ALL_BANDS, 0, 0, pRec.Width, pRec.Height);
if (pSData.m_milModel == MIL.M_NULL)
{
return(GenerateErrorCode(ERR_VISION_PATTERN_NONE));
}
MIL.MpatAllocResult(m_MilSystem, MIL.M_DEFAULT, ref m_SearchResult);
// Set the search accuracy to high.
MIL.MpatSetAccuracy(pSData.m_milModel, MIL.M_HIGH);
MIL.MpatSetAcceptance(pSData.m_milModel, pSData.m_dAcceptanceThreshold); // Acceptance Threshold Setting
MIL.MpatSetCertainty(pSData.m_milModel, pSData.m_dAcceptanceThreshold); // Set Certainty Threshold
MIL.MpatSetCenter(pSData.m_milModel, // Pattern Mark에서 Offset 설정함.
(double)pSData.m_pointReference.X,
(double)pSData.m_pointReference.Y);
// Set the search model speed to high.
MIL.MpatSetSpeed(pSData.m_milModel, MIL.M_HIGH);
// Preprocess the model.
MIL.MpatPreprocModel(m_MilImage, pSData.m_milModel, MIL.M_DEFAULT);
return(SUCCESS);
}
public void DeleteSearchModel(int iModelNo)
{
CVisionPatternData pSData = m_rgsCSearchData[iModelNo];
if (pSData.m_milModel != MIL.M_NULL && pSData.m_bIsModel)
{
MIL.MpatFree(pSData.m_milModel);
pSData.m_milModel = MIL.M_NULL;
pSData.m_bIsModel = false;
}
pSData.m_pointReference = new Point(0, 0);
pSData.m_rectSearch = new Rectangle(3, 3, DEF_IMAGE_SIZE_X - 3, DEF_IMAGE_SIZE_Y - 3);
pSData.m_dAcceptanceThreshold = 70.0;
pSData.m_dCertaintyThreshold = 90.0;
}
/// <summary>
/// ReLoadPatternMark : Pattern을 SearchData로 부터 재 등록한다.
/// </summary>
/// <param name="iCamNo"></param>
/// <param name="iTypeNo"></param>
/// <param name="pSData"></param>
/// <returns></returns>
public int ReLoadPatternMark(int iCamNo,
int iTypeNo,
CSearchData pSData)
{
#if SIMULATION_VISION
return SUCCESS;
#endif
if (m_RefComp.Camera == null) return GenerateErrorCode(ERR_VISION_CAMERA_FAIL);
// Vision System이 초기화 된지를 확인함
if (m_bSystemInit == false) return GenerateErrorCode(ERR_VISION_SYSTEM_FAIL);
// Pattern Data Load
m_RefComp.Camera[iCamNo].SetSearchData(iTypeNo, pSData);
// Mark Register
CVisionPatternData CurData = m_RefComp.Camera[iCamNo].GetSearchData(iTypeNo);
m_RefComp.System.ReloadModel(iCamNo, ref CurData);
return SUCCESS;
}
/// <summary>
/// Dispaly the registered Model Image or Model Area like below ;
/// </summary>
/// <param name="iCamNo" : Camera Number></param>
/// <param name="iModelNo": Model Number></param>
/// <param name="pHandle": Display 객체 Handle></param>
/// <returns></returns>
public int DisplayPatternImage(int iCamNo, int iModelNo, IntPtr pHandle)
{
#if SIMULATION_VISION
return SUCCESS;
#endif
// Vision System이 초기화 된지를 확인함
if (m_bSystemInit == false) return GenerateErrorCode(ERR_VISION_SYSTEM_FAIL);
// Model No 확인
if (isValidPatternMarkNo(iModelNo) == false) return GenerateErrorCode(ERR_VISION_PATTERN_NONE);
// 저장된 Pattern 정보를 읽어옴
CVisionPatternData pSData = m_RefComp.Camera[iCamNo].GetSearchData(iModelNo);
// Data에 MIL 정보를 확인함.
if (pSData.m_milModel ==MIL.M_NULL) return GenerateErrorCode(ERR_VISION_PATTERN_NONE);
// Image Display 호출
m_RefComp.View[iCamNo].DisplayImage(pSData.m_ModelImage, pHandle);
return SUCCESS;
}
/// <summary>
/// Pattern Maching으로 Mark의 위치 확인
/// </summary>
/// <param name="iCamNo": Camera Number></param>
/// <param name="iModelNo": Model Mark Number></param>
/// <param name="SearchArea": Search Area Rectangle></param>
/// <param name="ModelArea": Model Area Rectangle></param>
/// <param name="ReferencePoint": Reference Point></param>
/// <returns></returns>
public int RegisterPatternMark(int iCamNo,
string strModel,
int iTypeNo,
ref Rectangle SearchArea,
ref Rectangle ModelArea,
ref Point ReferencePoint)
{
#if SIMULATION_VISION
return SUCCESS;
#endif
// Vision System이 초기화 된지를 확인함
if (m_bSystemInit == false) return GenerateErrorCode(ERR_VISION_SYSTEM_FAIL);
// 모델 갯수 보다 큰 경우 Err
if (iTypeNo > DEF_USE_SEARCH_MARK_NO) return GenerateErrorCode(ERR_VISION_PATTERN_NUM_OVER);
// Search Size 확인
if (SearchArea.Width <= DEF_SEARCH_MIN_WIDTH ||
SearchArea.Height <= DEF_SEARCH_MIN_HEIGHT ||
SearchArea.Width > m_RefComp.Camera[iCamNo].m_CamPixelSize.Width ||
SearchArea.Height > m_RefComp.Camera[iCamNo].m_CamPixelSize.Height)
{
GenerateErrorCode(ERR_VISION_SEARCH_SIZE_OVER);
}
// 기존의 Mark 모델 Data를 연결함 (주소값으로 연결됨).
CVisionPatternData pSData = m_RefComp.Camera[iCamNo].GetSearchData(iTypeNo);
// 등록할 Mark의 Size 및 위치를 설정함.
pSData.m_rectModel = ModelArea;
pSData.m_rectSearch = SearchArea;
pSData.m_pointReference = ReferencePoint;
// 기존에 등록된 모델이 있을 경우 삭제한다.
if(pSData.m_milModel != MIL.M_NULL)
{
MIL.MpatFree(pSData.m_milModel);
pSData.m_milModel = MIL.M_NULL;
pSData.m_bIsModel = false;
}
// 설정한 Data로 Mark 모델을 등록한다.
if(m_RefComp.System.RegisterMarkModel(iCamNo, ref pSData)==true)
{
pSData.m_bIsModel = true;
// Model Register Grab Image Save
string strPath = DEF_PATTERN_FILE;
string strName = strModel + $"_Cam_{iCamNo}_Type_{iTypeNo}.bmp";
// Image Save
SaveModelImage(iCamNo, strPath, strName);
// Image Path & Name apply
pSData.m_strFilePath = strPath;
pSData.m_strFileName = strName;
return SUCCESS;
}
else
{
pSData.m_bIsModel = false;
return GenerateErrorCode(ERR_VISION_PATTERN_REG_FAIL);
}
}
public bool RegisterMarkModel(int iCamNo, ref CVisionPatternData pSData)
{
// 0 위치를 화면의 중앙으로 설정함.
pSData.m_rectModel.X = m_pDisplay[iCamNo].GetImageWidth() / 2;
pSData.m_rectModel.Y = m_pDisplay[iCamNo].GetImageHeight() / 2;
MIL_ID m_MilImage = m_pDisplay[iCamNo].GetImage();
MIL_ID m_DisplayGraph = m_pDisplay[iCamNo].GetViewGraph();
//Draw할 Rec을 생성한다.
Rectangle pRec = new Rectangle(pSData.m_rectModel.X - pSData.m_rectModel.Width / 2,
pSData.m_rectModel.Y - pSData.m_rectModel.Height / 2,
pSData.m_rectModel.Width, pSData.m_rectModel.Height);
// Allocate a normalized grayscale model.
MIL.MpatAllocModel(m_MilSystem, m_MilImage, pRec.X, pRec.Y,
pRec.Width, pRec.Height, MIL.M_NORMALIZED, ref pSData.m_milModel);
// Model Image Save (Image View Save용)
MIL.MbufAlloc2d(m_MilSystem, pRec.Width, pRec.Height, MIL.M_UNSIGNED + 8, MIL.M_IMAGE + MIL.M_PROC + MIL.M_DISP,
ref pSData.m_ModelImage);
MIL.MbufCopyColor2d(m_MilImage, pSData.m_ModelImage, MIL.M_ALL_BANDS, pRec.X, pRec.Y,
MIL.M_ALL_BANDS, 0, 0, pRec.Width, pRec.Height);
if (pSData.m_milModel == MIL.M_NULL)
{
return(false);
}
MIL.MpatAllocResult(m_MilSystem, MIL.M_DEFAULT, ref m_SearchResult);
// Set the search accuracy to high.
MIL.MpatSetAccuracy(pSData.m_milModel, MIL.M_HIGH);
MIL.MpatSetAcceptance(pSData.m_milModel, pSData.m_dAcceptanceThreshold); // Acceptance Threshold Setting
MIL.MpatSetCertainty(pSData.m_milModel, pSData.m_dAcceptanceThreshold); // Set Certainty Threshold
MIL.MpatSetCenter(pSData.m_milModel, // Pattern Mark에서 Offset 설정함.
(double)pSData.m_pointReference.X,
(double)pSData.m_pointReference.Y);
// Set the search model speed to high.
MIL.MpatSetSpeed(pSData.m_milModel, MIL.M_HIGH);
//================================================================================================
//// Angle 설정
//MIL.MpatSetAngle(pSData.m_milModel, MIL.M_SEARCH_ANGLE_MODE, MIL.M_ENABLE);
//MIL.MpatSetAngle(pSData.m_milModel, MIL.M_SEARCH_ANGLE_DELTA_NEG, 3.0);
//MIL.MpatSetAngle(pSData.m_milModel, MIL.M_SEARCH_ANGLE_DELTA_POS, 3.0);
//MIL.MpatSetAngle(pSData.m_milModel, MIL.M_SEARCH_ANGLE_ACCURACY, 0.25);
//================================================================================================
// Preprocess the model.
MIL.MpatPreprocModel(m_MilImage, pSData.m_milModel, MIL.M_DEFAULT);
// Draw a box around the model in the model image.
MIL.MpatDraw(MIL.M_DEFAULT, pSData.m_milModel, m_DisplayGraph,
MIL.M_DRAW_BOX, MIL.M_DEFAULT, MIL.M_ORIGINAL);
// Save Image Bitmap
return(true);
}
