public async Task <ImageProcessingResult> ProcessAsync(List <HImage> images, FindLineConfigs findLineConfigs,
List <FaiItem> faiItems, int indexToShow, ISnackbarMessageQueue messageQueue)
{
int backLightIndex = 1;
int frontLightIndex = 0;
HObject imageUndistorted;
HTuple changeOfBase;
HTuple changeOfBaseInv;
HTuple rotationMat;
HTuple rotationMatInv;
HTuple mapToWorld;
HTuple mapToImage;
HTuple xLeft, yLeft, xRight, yRight, xUp, yUp, xDown, yDown;
HTuple baseRightCol,
baseRightLen1,
baseRightLen2,
baseRightRadian,
baseRightRow,
baseTopCol,
baseTopLen1,
baseTopLen2,
baseTopRadian,
baseTopRow,
camParams;
// Calculate matrices
HalconScripts.GetI94TopViewBaseRectsNoRectify(images[backLightIndex], _shapeModelHandle, out baseTopRow,
out baseTopCol, out baseTopRadian, out baseTopLen1, out baseTopLen2, out baseRightRow,
out baseRightCol, out baseRightRadian, out baseRightLen1, out baseRightLen2, out mapToWorld, out mapToImage, out camParams
);
// Undistort images
// images[backLightIndex] = imageUndistorted.HobjectToHimage();
// HTuple _;
// HalconScripts.UndistortImage(images[frontLightIndex], out imageUndistorted, camParams, out _);
// images[frontLightIndex] = imageUndistorted.HobjectToHimage();
var findLineManager = new FindLineManager(messageQueue);
// Top base
var findLineParamTop = findLineConfigs.FindLineParamsDict["TopBase"];
var findLineFeedingsTop = findLineParamTop.ToFindLineFeeding();
findLineFeedingsTop.Col = baseTopCol;
findLineFeedingsTop.Row = baseTopRow;
findLineFeedingsTop.Radian = baseTopRadian;
findLineFeedingsTop.Len1 = baseTopLen1;
findLineFeedingsTop.Len2 = baseTopLen2;
findLineFeedingsTop.Transition = "negative";
var lineTopBase = findLineManager.TryFindLine("X-aixs", images[backLightIndex], findLineFeedingsTop);
HalconScripts.SortLineLeftRight(lineTopBase.XStart, lineTopBase.YStart, lineTopBase.XEnd, lineTopBase.YEnd, out xLeft, out yLeft, out xRight, out yRight);
// Right base
var findLineParamRight = findLineConfigs.FindLineParamsDict["RightBase"];
var findLineFeedingsRight = findLineParamRight.ToFindLineFeeding();
findLineFeedingsRight.Col = baseRightCol;
findLineFeedingsRight.Row = baseRightRow;
findLineFeedingsRight.Radian = baseRightRadian;
findLineFeedingsRight.Len1 = baseRightLen1;
findLineFeedingsRight.Len2 = baseRightLen2;
findLineFeedingsRight.Transition = "negative";
var lineRightBase = findLineManager.TryFindLine("Y-axis", images[backLightIndex], findLineFeedingsRight);
HalconScripts.SortLineUpDown(lineRightBase.XStart, lineRightBase.YStart, lineRightBase.XEnd, lineRightBase.YEnd, out xUp, out yUp, out xDown, out yDown);
HalconScripts.GetChangeOfBase(xRight, yRight, xLeft, yLeft, xUp, yUp, xDown, yDown, out changeOfBase, out changeOfBaseInv, out rotationMat, out rotationMatInv);
var coordinateSolver = new CoordinateSolver(changeOfBase, changeOfBaseInv, rotationMat, rotationMatInv, mapToWorld, mapToImage);
// Update absolute find line locations
findLineConfigs.GenerateLocationsAbs(coordinateSolver);
// Find lines
findLineManager.FindLineFeedings = findLineConfigs.GenerateFindLineFeedings();
await findLineManager.FindLinesParallel(images);
// Make parallel lines
var lineFai2and3P2 = coordinateSolver.TranslateLineInWorldUnit(9, lineRightBase, true);
var lineFai4P1 = coordinateSolver.TranslateLineInWorldUnit(3, lineRightBase, true);
var lineFai4P2 = coordinateSolver.TranslateLineInWorldUnit(9.269, lineRightBase, true);
var lineFai4P3 = coordinateSolver.TranslateLineInWorldUnit(15.5, lineRightBase, true);
var lineFai5P1 = coordinateSolver.TranslateLineInWorldUnit(5.299, lineRightBase, true);
var lineFai5P2 = coordinateSolver.TranslateLineInWorldUnit(9.299, lineRightBase, true);
var lineFai5P3 = coordinateSolver.TranslateLineInWorldUnit(13.299, lineRightBase, true);
var lineFai6P1 = coordinateSolver.TranslateLineInWorldUnit(22.024, lineRightBase, true);
var lineFai6P2 = coordinateSolver.TranslateLineInWorldUnit(24.024, lineRightBase, true);
var lineFai6P3 = coordinateSolver.TranslateLineInWorldUnit(26.024, lineRightBase, true);
var lineFai9P1 = coordinateSolver.TranslateLineInWorldUnit(21.753, lineRightBase, true);
var lineFai9P2 = coordinateSolver.TranslateLineInWorldUnit(23.753, lineRightBase, true);
var lineFai9P3 = coordinateSolver.TranslateLineInWorldUnit(25.753, lineRightBase, true);
var lineFai12P1 = coordinateSolver.TranslateLineInWorldUnit(-23.213, lineTopBase, true);
var lineFai12P2 = coordinateSolver.TranslateLineInWorldUnit(-34.97, lineTopBase, true);
var lineFai16P1 = coordinateSolver.TranslateLineInWorldUnit(-13.071, lineTopBase, true);
var lineFai16P2 = coordinateSolver.TranslateLineInWorldUnit(-20.213, lineTopBase, true);
var lineFai17P1 = coordinateSolver.TranslateLineInWorldUnit(-1.53, lineTopBase, true);
var lineFai17P2 = coordinateSolver.TranslateLineInWorldUnit(-9.827, lineTopBase, true);
var lineFai19P1 = coordinateSolver.TranslateLineInWorldUnit(-2.157, lineTopBase, true);
var lineFai19P2 = coordinateSolver.TranslateLineInWorldUnit(-13.791, lineTopBase, true);
var lineFai20CenterX = coordinateSolver.TranslateLineInWorldUnit(9.299, lineRightBase, true);
var lineFai20CenterY = coordinateSolver.TranslateLineInWorldUnit(-7.886, lineTopBase, true);
// Intersections
var p2F2 = lineFai2and3P2.Intersect(findLineManager.GetLine("02"));
var p2F3 = lineFai2and3P2.Intersect(findLineManager.GetLine("03"));
var p1F4 = lineFai4P1.Intersect((findLineManager.GetLine("04")));
var p2F4 = lineFai4P2.Intersect((findLineManager.GetLine("04")));
var p3F4 = lineFai4P3.Intersect((findLineManager.GetLine("04")));
var p1F5 = lineFai5P1.Intersect((findLineManager.GetLine("05")));
var p2F5 = lineFai5P2.Intersect((findLineManager.GetLine("05")));
var p3F5 = lineFai5P3.Intersect((findLineManager.GetLine("05")));
var p1F6 = lineFai6P1.Intersect((findLineManager.GetLine("06")));
var p2F6 = lineFai6P2.Intersect((findLineManager.GetLine("06")));
var p3F6 = lineFai6P3.Intersect((findLineManager.GetLine("06")));
var p1F9 = lineFai9P1.Intersect((findLineManager.GetLine("09")));
var p2F9 = lineFai9P2.Intersect((findLineManager.GetLine("09")));
var p3F9 = lineFai9P3.Intersect((findLineManager.GetLine("09")));
var p1F12 = lineFai12P1.Intersect((findLineManager.GetLine("12")));
var p2F12 = lineFai12P2.Intersect((findLineManager.GetLine("12")));
var p1F16 = lineFai16P1.Intersect((findLineManager.GetLine("16")));
var p2F16 = lineFai16P2.Intersect((findLineManager.GetLine("16")));
var p1F17 = lineFai17P1.Intersect((findLineManager.GetLine("17")));
var p2F17 = lineFai17P2.Intersect((findLineManager.GetLine("17")));
var p1F19 = lineFai19P1.Intersect((findLineManager.GetLine("19")));
var p2F19 = lineFai19P2.Intersect((findLineManager.GetLine("19")));
var p20Center = lineFai20CenterX.Intersect(lineFai20CenterY);
// Measure point-line distances
var valueF2P2 = coordinateSolver.PointLineDistanceInWorld(p2F2, lineTopBase);
var valueF3P2 = coordinateSolver.PointLineDistanceInWorld(p2F3, lineTopBase);
var valueF4P1 = coordinateSolver.PointLineDistanceInWorld(p1F4, lineTopBase);
var valueF4P2 = coordinateSolver.PointLineDistanceInWorld(p2F4, lineTopBase);
var valueF4P3 = coordinateSolver.PointLineDistanceInWorld(p3F4, lineTopBase);
var valueF5P1 = coordinateSolver.PointLineDistanceInWorld(p1F5, lineTopBase);
var valueF5P2 = coordinateSolver.PointLineDistanceInWorld(p2F5, lineTopBase);
var valueF5P3 = coordinateSolver.PointLineDistanceInWorld(p3F5, lineTopBase);
var valueF6P1 = coordinateSolver.PointLineDistanceInWorld(p1F6, lineTopBase);
var valueF6P2 = coordinateSolver.PointLineDistanceInWorld(p2F6, lineTopBase);
var valueF6P3 = coordinateSolver.PointLineDistanceInWorld(p3F6, lineTopBase);
var valueF9P1 = coordinateSolver.PointLineDistanceInWorld(p1F9, lineTopBase);
var valueF9P2 = coordinateSolver.PointLineDistanceInWorld(p2F9, lineTopBase);
var valueF9P3 = coordinateSolver.PointLineDistanceInWorld(p3F9, lineTopBase);
var valueF12P1 = coordinateSolver.PointLineDistanceInWorld(p1F12, lineRightBase);
var valueF12P2 = coordinateSolver.PointLineDistanceInWorld(p2F12, lineRightBase);
var valueF16P1 = coordinateSolver.PointLineDistanceInWorld(p1F16, lineRightBase);
var valueF16P2 = coordinateSolver.PointLineDistanceInWorld(p2F16, lineRightBase);
var valueF17P1 = coordinateSolver.PointLineDistanceInWorld(p1F17, lineRightBase);
var valueF17P2 = coordinateSolver.PointLineDistanceInWorld(p2F17, lineRightBase);
var valueF19P1 = coordinateSolver.PointLineDistanceInWorld(p1F19, lineRightBase);
var valueF19P2 = coordinateSolver.PointLineDistanceInWorld(p2F19, lineRightBase);
// Record points
var recorder = new DataRecorder(changeOfBaseInv);
recorder.RecordPoint(findLineManager.GetLine("02"), lineRightBase, "XAxis-02");
recorder.RecordPoint(findLineManager.GetLine("03"), lineRightBase, "YAxis-03");
recorder.RecordPoint(findLineManager.GetLine("04"), lineRightBase, "YAxis-04");
recorder.RecordPoint(findLineManager.GetLine("05"), lineRightBase, "YAxis-05");
recorder.RecordPoint(findLineManager.GetLine("06"), lineRightBase, "YAxis-06");
// Record angles
recorder.RecordLine(lineTopBase, "X-axis");
recorder.RecordLine(lineRightBase, "Y-axis");
recorder.RecordLine(findLineManager.GetLine("02"), "02");
recorder.RecordLine(findLineManager.GetLine("03"), "03");
recorder.RecordLine(findLineManager.GetLine("04"), "04");
recorder.RecordLine(findLineManager.GetLine("05"), "05");
recorder.RecordLine(findLineManager.GetLine("06"), "06");
recorder.RecordLine(findLineManager.GetLine("20.topRight"), "20.topRight");
recorder.RecordLine(findLineManager.GetLine("20.bottomLeft"), "20.bottomLeft");
//Fai 20.1
var ptOrigin = lineTopBase.Intersect(lineRightBase);
HTuple rotatedX1, rotatedX2, rotatedY1, rotatedY2;
HObject lineRegion;
HalconScripts.PivotLineAroundPoint(out lineRegion, xLeft, yLeft, xRight, yRight, ptOrigin.ImageX, ptOrigin.ImageY,
MathUtils.ToRadian(45), "right", 5120, 5120, out rotatedX1, out rotatedY1, out rotatedX2,
out rotatedY2);
var lineRotated = new Line(rotatedX1.D, rotatedY1.D, rotatedX2.D, rotatedY2.D);
lineRotated.IsVisible = true;
HalconScripts.PivotLineAroundPoint(out lineRegion, xLeft, yLeft, xRight, yRight, ptOrigin.ImageX, ptOrigin.ImageY,
MathUtils.ToRadian(-45), "right", 5120, 5120, out rotatedX1, out rotatedY1, out rotatedX2,
out rotatedY2);
var lineProject = new Line(rotatedX1.D, rotatedY1.D, rotatedX2.D, rotatedY2.D)
{
IsVisible = true
};
var lineFai20TopRight = findLineManager.GetLine("20.topRight");
var pointOnTopRight = new Point((lineFai20TopRight.XStart + lineFai20TopRight.XEnd) / 2.0, (lineFai20TopRight.YStart + lineFai20TopRight.YEnd) / 2.0);
var lineFai20BottomLeft = findLineManager.GetLine("20.bottomLeft");
var valueF20P1 = coordinateSolver.PointLineDistanceInWorld(pointOnTopRight, lineFai20BottomLeft);
var linePerpendiculerToBottomLeft =
lineFai20BottomLeft.PerpendicularLineThatPasses(pointOnTopRight);
linePerpendiculerToBottomLeft.IsVisible = true;
var angle = linePerpendiculerToBottomLeft.AngleWithLine(lineProject);
var cosValue = Math.Cos(angle);
valueF20P1 = valueF20P1 * cosValue;
// Fai 20.2
var pointOnBottomLeft = linePerpendiculerToBottomLeft.Intersect(lineFai20BottomLeft);
var midPoint = new Point((pointOnBottomLeft.ImageX + pointOnTopRight.ImageX) / 2.0,
(pointOnBottomLeft.ImageY + pointOnTopRight.ImageY) / 2.0);
var pointMidProjected = lineProject.ProjectPoint(midPoint);
var distanceToOrigin = coordinateSolver.PointPointDistanceInWorld(pointMidProjected, ptOrigin, true);
var valueF20P2 = Math.Abs(12.202 - distanceToOrigin) * 2;
// outputs
var outputs = new Dictionary <string, double>();
outputs["02_2"] = valueF2P2;
outputs["03_2"] = valueF3P2;
outputs["04_1"] = valueF4P1;
outputs["04_2"] = valueF4P2;
outputs["04_3"] = valueF4P3;
outputs["05_1"] = valueF5P1;
outputs["05_2"] = valueF5P2;
outputs["05_3"] = valueF5P3;
outputs["06_1"] = valueF6P1;
outputs["06_2"] = valueF6P2;
outputs["06_3"] = valueF6P3;
outputs["09_1"] = valueF9P1;
outputs["09_2"] = valueF9P2;
outputs["09_3"] = valueF9P3;
outputs["12_1"] = valueF12P1;
outputs["12_2"] = valueF12P2;
outputs["16_1"] = valueF16P1;
outputs["16_2"] = valueF16P2;
outputs["17_1"] = valueF17P1;
outputs["17_2"] = valueF17P2;
outputs["19_1"] = valueF19P1;
outputs["19_2"] = valueF19P2;
outputs["20_1"] = valueF20P1;
outputs["20_2"] = valueF20P2;
var graphics = new HalconGraphics()
{
CrossesIgnored = findLineManager.CrossesIgnored,
CrossesUsed = findLineManager.GenCrossesUsed(),
FindLineRects = findLineManager.FindLineRects,
LineRegions = findLineManager.LineRegions,
Edges = findLineManager.Edges,
PointPointGraphics = coordinateSolver.PointPointDistanceGraphics,
PointLineGraphics = coordinateSolver.PointLineDistanceGraphics,
// Image = images[indexToShow]
};
return(new ImageProcessingResult()
{
DataRecorder = recorder,
FaiDictionary = outputs,
HalconGraphics = graphics
});
}
