/// <summary>
/// グリッドマーク自動検索処理でグリッドマークが見つかったときのイベントハンドラです．
/// </summary>
private void gridMark_Found(object sender, GridMarkEventArgs e)
{
Dispatcher.BeginInvoke(new Action(delegate {
DrawCrossMark(e.ViewerPoint.X, e.ViewerPoint.Y);
string gridmark = GridMarkDefinitionUtil.ToString(e.GridMarkPoint);
string message = string.Format(Properties.Strings.FoundNow, gridmark, e.EncoderPoint.X, e.EncoderPoint.Y);
WriteLine(message);
}));
}
/// <summary>
/// searchThreadが行う処理です．このメソッドを直接呼び出さないでください．
/// </summary>
private void searchThread_Task()
{
if (Started != null)
{
Started(this, new EventArgs());
}
Camera camera = Camera.GetInstance();
camera.Start();
for (int i = coordManager.DefinedGridMarkNum; i < CoordManager.AllGridMarksNum; ++i)
{
GridMarkPoint presentMark = utility.NextPoint;
Vector2 nextGridCoord = utility.GetGridMarkCoord(presentMark);
MotorControler mc = MotorControler.GetInstance(parameterManager);
Led led = Led.GetInstance();
mc.MovePointXY(nextGridCoord, new Action(delegate {
mc.SetSpiralCenterPoint();
}));
mc.Join();
Surface surface = Surface.GetInstance(parameterManager);
bool moveContinue = true;
mc.MoveDistance(0.1, VectorId.Z);
mc.Join();
Thread.Sleep(100);
led.AdjustLight(parameterManager);
while (moveContinue)
{
mc.MoveDistance(-0.01, VectorId.Z);
mc.Join();
byte[] b = camera.ArrayImage;
Mat mat0 = new Mat(440, 512, MatType.CV_8U, b);
Mat mat = mat0.Clone();
Cv2.GaussianBlur(mat, mat, Cv.Size(3, 3), -1);
//mat.ImWrite(String.Format(@"c:\img\{0}_g.bmp",
// System.DateTime.Now.ToString("yyyyMMdd_HHmmss_fff")));
Mat gau = mat.Clone();
Cv2.GaussianBlur(gau, gau, Cv.Size(31, 31), -1);
Cv2.Subtract(gau, mat, mat);
Cv2.Threshold(mat, mat, 10, 255, ThresholdType.Binary);
int brightness = Cv2.CountNonZero(mat);
//mat.ImWrite(String.Format(@"c:\img\{0}_t.bmp",
// System.DateTime.Now.ToString("yyyyMMdd_HHmmss_fff")));
moveContinue = (brightness < 15000);
}
led.AdjustLight(parameterManager);
/* グリッドマークを検出する */
// 入力画像にて，グリッドマーク検出を行う．
// 見つからなかった場合はNumOfSpiralSearchの回数分だけらせん移動を行い探す．
bool continueFlag = true;
while (continueFlag)
{
GridMarkEventArgs eventArgs = new GridMarkEventArgs();
eventArgs.GridMarkPoint = presentMark;
try {
Vector2 viewerPoint = GridMarkRecognizer.SearchGridMark();
Vector2 encoderPoint = coordManager.TransToEmulsionCoord(viewerPoint);
mc.MovePointXY(encoderPoint);
mc.Join();
Thread.Sleep(100);
viewerPoint = GridMarkRecognizer.SearchGridMark();
encoderPoint = coordManager.TransToEmulsionCoord(viewerPoint);
mc.MovePointXY(encoderPoint);
mc.Join();
Thread.Sleep(100);
coordManager.SetGridMark(encoderPoint, presentMark, camera.ArrayImage);
continueFlag = false;
if (Found != null)
{
Vector3 position = mc.GetPoint();
eventArgs.ViewerPoint = new Vector2(position.X, position.Y);
eventArgs.EncoderPoint = encoderPoint;
eventArgs.GridMarkPoint = presentMark;
Found(this, eventArgs);
}
} catch (GridMarkNotFoundException) {
mc.MoveInSpiral(true);
continueFlag = (mc.SpiralIndex < NumOfSpiralSearch);
if (!continueFlag && NotFound != null)
{
NotFound(this, eventArgs);
}
}
} // while
} // for
// 座標系の生成
coordManager.CreateCoordSystem();
}
