public override bool doLocal()
{
try
{
NowResult = new LocalResult();
St_LinesParam LinesPara = new St_LinesParam(2);
LinesPara = NowVisionPara.Lines;
HTuple LineRow1 = new HTuple(), LineCol1 = new HTuple(), LineRow2 = new HTuple(), LineCol2 = new HTuple();
HObject LinesContour = new HObject(), LinePtCont = new HObject();
//找出所有的直线
LineTypePos.FindLine(LinesPara, NowImg, out LineRow1, out LineCol1, out LineRow2, out LineCol2, out LinesContour, out LinePtCont);
HTuple CrossRow = new HTuple(), CrossCol = new HTuple(), IsParallel = new HTuple();
//第一条直线和第二条直线的交点
HOperatorSet.IntersectionLl(LineRow1[0], LineCol1[0], LineRow2[0], LineCol2[0], LineRow1[1], LineCol1[1], LineRow2[1], LineCol2[1],
out CrossRow, out CrossCol, out IsParallel);
HTuple angle;
//图像坐标轴X轴到直线1的角度
HOperatorSet.AngleLx(LineRow1[0], LineCol1[0], LineRow2[0], LineCol2[0], out angle);
NowResult.row = CrossRow.D;
NowResult.col = CrossCol.D;
NowResult.angle = angle.D;
HOperatorSet.ConcatObj(LinesContour, LinePtCont, out LinesContour);
LinePtCont.Dispose();
NowResult.ShowContour = LinesContour;
return(true);
}
catch {
return(false);
}
}
/// <summary>
/// 計算線與線的角度
/// </summary>
/// <param name="line1">IMeasureGeoModel 線段1</param>
/// <param name="line2">IMeasureGeoModel 線段2</param>
/// <returns></returns>
public static AngleResult AngleLineToLine(IMeasureGeoModel line1, IMeasureGeoModel line2)
{
AngleResult result = null;
//check
if (isMeasureModelValid(line1) && isMeasureModelValid(line2))
{
//act
HTuple angle, firstPhi, secondPhi, interRow, interCol, isParallel;
HOperatorSet.AngleLx(line1.Row1, line1.Col1, line1.Row2, line1.Col2, out firstPhi);
HOperatorSet.AngleLx(line2.Row1, line2.Col1, line2.Row2, line2.Col2, out secondPhi);
HOperatorSet.IntersectionLl(line1.Row1, line1.Col1, line1.Row2, line1.Col2, line2.Row1, line2.Col1, line2.Row2, line2.Col2,
out interRow, out interCol, out isParallel);
HOperatorSet.AngleLl(line1.Row1, line1.Col1, line1.Row2, line1.Col2, line2.Row1, line2.Col1, line2.Row2, line2.Col2, out angle);
result = new AngleResult()
{
Angle = angle,
StartPhi = firstPhi,
EndPhi = secondPhi,
Row = interRow,
Col = interCol,
};
}
return(result);
}
public override bool doLocal()
{
try
{
NowResult = new LocalResult();
St_CirclesParam CirclesParam = new St_CirclesParam(2);
CirclesParam = NowVisionPara.Circles;
HTuple CircleRows = new HTuple(), CircleCols = new HTuple(), CircleRs = new HTuple(), StartPhis = new HTuple(), EndPhis = new HTuple();
HObject CircleContour = new HObject(), CircleCont = new HObject(), CenterCross = new HObject();
//找出要找的圆
CircleTypePos.FindCircle(NowImg, CirclesParam, out CircleRows, out CircleCols, out CircleRs, out StartPhis, out EndPhis,
out CircleContour, out CircleCont, out CenterCross);
HOperatorSet.ConcatObj(CircleContour, CircleCont, out CircleContour);
HOperatorSet.ConcatObj(CircleContour, CenterCross, out CircleContour);
CircleCont.Dispose();
CenterCross.Dispose();
NowResult.ShowContour = CircleContour;
NowResult.row = (CircleRows[0].D + CircleCols[1].D) / 2.0;
NowResult.col = (CircleCols[0].D + CircleCols[1].D) / 2.0;
HTuple angle = new HTuple();
HOperatorSet.AngleLx(CircleRows[0], CircleCols[0], CircleRows[1], CircleCols[1], out angle);
NowResult.angle = angle.D;
return(true);
}
catch
{
return(false);
}
}
private void Button_Click_D_Measure(object sender, RoutedEventArgs e)
{
HObject ho_Rectange_Again = null;
HOperatorSet.SetDraw(this.CamSetting.HalconID, "margin");
HOperatorSet.SetColor(this.CamSetting.HalconID, "#FF00FF");
HTuple hv_r2r = null, hv_r2c = null, hv_r2phi = null, hv_r2w = null, hv_r2h = null;
HOperatorSet.DrawRectangle2(this.CamSetting.HalconID, out hv_r2r, out hv_r2c, out hv_r2phi, out hv_r2w, out hv_r2h);
HOperatorSet.GenRectangle2(out ho_Rectange_Again, hv_r2r, hv_r2c, hv_r2phi, hv_r2w, hv_r2h);
HTuple hv_c = null, hv_r = null;
try
{
/*
* switch (global.GetIns().CamSel)
* {
* case 0: CameraADisp.Measure_Diameter(Obj[0], hv_r2r, hv_r2c, hv_r2phi, hv_r2w, hv_r2h, out hv_c, out hv_r, this.CamSetting.HalconID); break;
* case 1: CameraBDisp.Measure_Diameter(Obj[1], hv_r2r, hv_r2c, hv_r2phi, hv_r2w, hv_r2h, out hv_c, out hv_r, this.CamSetting.HalconID); break;
* case 2: CameraCDisp.Measure_Diameter(Obj[2], hv_r2r, hv_r2c, hv_r2phi, hv_r2w, hv_r2h, out hv_c, out hv_r, this.CamSetting.HalconID); break;
* // case 3: CameraDDisp.Measure_Diameter(Obj[3], hv_r2r, hv_r2c, hv_r2phi, hv_r2w, hv_r2h, this.CamSetting.HalconID); break;
* default: break;
* }
*/
Info_Ctrl Infc = new Info_Ctrl();
ImageOperate.Measure_Diameter(Obj[global.GetIns().CamSel], hv_r2r, hv_r2c, hv_r2phi, hv_r2w, hv_r2h, out Infc, this.CamSetting.HalconID, ImageOperate.Track_Model);
INI.axis_roi.ElementAt(global.GetIns().CamSel).axis_d1_r1 = hv_r2r - Infc.pos_y;
INI.axis_roi.ElementAt(global.GetIns().CamSel).axis_d1_c1 = hv_r2c - Infc.pos_x;
INI.axis_roi.ElementAt(global.GetIns().CamSel).axis_d1_r2 = hv_r2w;
INI.axis_roi.ElementAt(global.GetIns().CamSel).axis_d1_c2 = hv_r2h;
INI.axis_roi.ElementAt(global.GetIns().CamSel).axis_d1_phi = hv_r2phi - Infc.pos_angle;
try
{
HTuple hv_Angle = null;
HOperatorSet.AngleLx(Infc.pos_y, Infc.pos_x, hv_r2r, hv_r2c, out hv_Angle);
INI.axis_roi.ElementAt(global.GetIns().CamSel).axis_d1_relative_phi = hv_Angle;
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
}
HOperatorSet.DispObj(ho_Rectange_Again, this.CamSetting.HalconID);
INI.writting();
}
catch (Exception ex)
{
history.HistoryNotify += ex.ToString() + "\r\n";
return;
}
}
private void LoadingParams(string CameraLabelText, string LineDetectName, string filePath)
{
CameraLabel.Text = CameraLabelText;
LineDetect.SaveLineDataName = LineDetectName;
ho_Image = new HImage(filePath);
LineDetect.ho_Image = ho_Image;
if (!LineDetect.ReadParams(LineDetect.SaveLineDataName))
{
MessageBox.Show("读取默认参数失败");
}
//生成ROI
roiController.ROIList.Clear();
roiController.roiMode = ROIRectangle2;
ROIRectangle2.midR = (LineDetect.hv_MeasureRow1 + LineDetect.hv_MeasureRow2) / 2;
ROIRectangle2.midC = (LineDetect.hv_MeasureColumn1 + LineDetect.hv_MeasureColumn2) / 2;
HOperatorSet.AngleLx(LineDetect.hv_MeasureRow1, LineDetect.hv_MeasureColumn1, LineDetect.hv_MeasureRow2, LineDetect.hv_MeasureColumn2, out HTuple AngleL);
ROIRectangle2.phi = -Convert.ToDouble(AngleL.ToString());
HOperatorSet.DistancePp(LineDetect.hv_MeasureRow1, LineDetect.hv_MeasureColumn1, LineDetect.hv_MeasureRow2, LineDetect.hv_MeasureColumn2, out HTuple LengthL);
ROIRectangle2.length1 = Convert.ToDouble(LengthL.ToString()) / 2;
ROIRectangle2.length2 = LineDetect.hv_MeasureLength1;
roiController.roiMode.createROI(ROIRectangle2.midC, ROIRectangle2.midR);
LineDetect.RefreshParams();
ReDraw();
roiController.ROIList.Add(roiController.roiMode);
roiController.activeROIidx = -1;
HWndCtrl.addIconicVar(ho_Image);
HWndCtrl.resetAll();
HWndCtrl.repaint();
SendMessage(this.TLPanel_Bottom.Handle, WM_SETREDRAW, 0, IntPtr.Zero);//禁止重绘
TLPCheckParam.Controls.Clear();
TLPCheckParam.Controls.Add(LineDetect);
LineDetect.Show();
SendMessage(TLPanel_Bottom.Handle, WM_SETREDRAW, 1, IntPtr.Zero); //取消禁止
TLPanel_Bottom.Refresh(); //刷新控件
}
private void Button_Click_Slot_Measure(object sender, RoutedEventArgs e)
{
HObject ho_Rectange_Again = null;
HOperatorSet.SetDraw(this.CamSetting.HalconID, "margin");
HOperatorSet.SetColor(this.CamSetting.HalconID, "green");
HTuple hv_r2r = null, hv_r2c = null, hv_r2phi = null, hv_r2w = null, hv_r2h = null;
HOperatorSet.DrawRectangle2(this.CamSetting.HalconID, out hv_r2r, out hv_r2c, out hv_r2phi, out hv_r2w, out hv_r2h);
HOperatorSet.GenRectangle2(out ho_Rectange_Again, hv_r2r, hv_r2c, hv_r2phi, hv_r2w, hv_r2h);
HTuple hv_r = null, hv_c = null;
try
{
Info_Ctrl Infc = new Info_Ctrl();
ImageOperate.Measure_Diameter(Obj[global.GetIns().CamSel], hv_r2r, hv_r2c, hv_r2phi, hv_r2w, hv_r2h, out Infc, this.CamSetting.HalconID, ImageOperate.Track_Model);
INI.axis_roi.ElementAt(global.GetIns().CamSel).axis_d2_r1 = hv_r2r - Infc.pos_y;
INI.axis_roi.ElementAt(global.GetIns().CamSel).axis_d2_c1 = hv_r2c - Infc.pos_x;
INI.axis_roi.ElementAt(global.GetIns().CamSel).axis_d2_r2 = hv_r2w;
INI.axis_roi.ElementAt(global.GetIns().CamSel).axis_d2_c2 = hv_r2h;
INI.axis_roi.ElementAt(global.GetIns().CamSel).axis_d2_phi = hv_r2phi - Infc.pos_angle;
try
{
HTuple hv_Angle = null;
HOperatorSet.AngleLx(Infc.pos_y, Infc.pos_x, hv_r2r, hv_r2c, out hv_Angle);
INI.axis_roi.ElementAt(global.GetIns().CamSel).axis_d2_relative_phi = hv_Angle;
}
catch (Exception exe)
{
MessageBox.Show(exe.ToString());
}
HOperatorSet.DispObj(ho_Rectange_Again, this.CamSetting.HalconID);
INI.writting();
}
catch (HalconException ex)
{
history.HistoryNotify += ex.ToString() + "\r\n";
return;
}
}
/// <summary>
/// 計算兩線段的對稱線
/// </summary>
/// <param name="modelOne"></param>
/// <param name="modelTwo"></param>
/// <returns></returns>
public static LineResult CalculateSymmetryLine(IMeasureGeoModel modelOne, IMeasureGeoModel modelTwo)
{
LineResult result = null;
var modelValid = isMeasureModelValid(modelOne) && isMeasureModelValid(modelTwo);
if (modelValid)
{
//取得第一條線段的中點
var pointModel = getMidPoint(modelOne);
var lineModel = modelTwo;
//計算第一線段中點到第二線段上的投影點(垂直距離)
HTuple rowProj, colProj;
HOperatorSet.ProjectionPl(pointModel.Row1, pointModel.Col1, lineModel.Row1, lineModel.Col1, lineModel.Row2, lineModel.Col2, out rowProj, out colProj);
//計算第一線段中點與第二線段上的投影點距離 (point to point)
HTuple distance;
HOperatorSet.DistancePp(rowProj, colProj, pointModel.Row1, pointModel.Col1, out distance);
//取兩線中點
var cRow = (pointModel.Row1 + rowProj) / 2.0;
var cCol = (pointModel.Col1 + colProj) / 2.0;
//取角度
HTuple angle;
HOperatorSet.AngleLx(lineModel.Row1, lineModel.Col1, lineModel.Row2, lineModel.Col2, out angle);
//線段
double[] rows, cols;
DetermineLine(cRow, cCol, angle, distance, out rows, out cols);
result = new LineResult()
{
Row1 = rows[0],
Row2 = rows[1],
Col1 = cols[0],
Col2 = cols[1],
Distance = distance,
};
}
return(result);
}
public override bool doLocal()
{
try
{
NowResult = new LocalResult();
St_LinesParam LinesPara = new St_LinesParam(2);
LinesPara = NowVisionPara.Lines;
HTuple LineRow1 = new HTuple(), LineCol1 = new HTuple(), LineRow2 = new HTuple(), LineCol2 = new HTuple();
HObject LinesContour = new HObject(), LinePtCont = new HObject();
//找出所有的直线
LineTypePos.FindLine(LinesPara, NowImg, out LineRow1, out LineCol1, out LineRow2, out LineCol2, out LinesContour, out LinePtCont);
St_CirclesParam CirclesParam = new St_CirclesParam(2);
CirclesParam = NowVisionPara.Circles;
HTuple CircleRows = new HTuple(), CircleCols = new HTuple(), CircleRs = new HTuple(), StartPhis = new HTuple(), EndPhis = new HTuple();
HObject CircleContour = new HObject(), CircleCont = new HObject(), CenterCross = new HObject();
HTuple angle;
//图像坐标轴X轴到直线1的角度
HOperatorSet.AngleLx(LineRow1[0], LineCol1[0], LineRow2[0], LineCol2[0], out angle);
//找出要找的圆
CircleTypePos.FindCircle(NowImg, CirclesParam, out CircleRows, out CircleCols, out CircleRs, out StartPhis, out EndPhis,
out CircleContour, out CircleCont, out CenterCross);
HOperatorSet.ConcatObj(CircleContour, CircleCont, out CircleContour);
HOperatorSet.ConcatObj(CircleContour, CenterCross, out CircleContour);
CircleCont.Dispose();
CenterCross.Dispose();
HOperatorSet.ConcatObj(CircleContour, LinesContour, out CircleContour);
HOperatorSet.ConcatObj(CircleContour, LinePtCont, out CircleContour);
LinesContour.Dispose();
LinePtCont.Dispose();
NowResult.row = CircleRows[0].D;
NowResult.col = CircleCols[0].D;
NowResult.angle = angle.D;
NowResult.ShowContour = CircleContour;
return(true);
}
catch
{ return(false); }
}
public static void ShowMeasureRectangle(HTuple hv_ImageWindow, HTuple hv_ZoomFactor, LineDetect LineDetect, HTuple color)
{
HTuple hv_Row1 = new HTuple();
HTuple hv_Column1 = new HTuple();
HTuple hv_Row2 = new HTuple();
HTuple hv_Column2 = new HTuple();
HTuple hv_MeasureLength1 = new HTuple();
hv_Row1 = LineDetect.hv_MeasureRow1 * hv_ZoomFactor;
hv_Column1 = LineDetect.hv_MeasureColumn1 * hv_ZoomFactor;
hv_Row2 = LineDetect.hv_MeasureRow2 * hv_ZoomFactor;
hv_Column2 = LineDetect.hv_MeasureColumn2 * hv_ZoomFactor;
hv_MeasureLength1 = LineDetect.hv_MeasureLength1 * hv_ZoomFactor;
HOperatorSet.DistancePp(hv_Row1, hv_Column1, hv_Row2, hv_Column2, out HTuple hv_Distance);
HOperatorSet.AngleLx(hv_Row1, hv_Column1, hv_Row2, hv_Column2, out HTuple hv_Angle);
HOperatorSet.GenRectangle2(out HObject ho_Rectangle, (hv_Row1 + hv_Row2) / 2, (hv_Column1 + hv_Column2) / 2, hv_Angle, hv_Distance / 2, hv_MeasureLength1);
HOperatorSet.SetColor(hv_ImageWindow, color);
HOperatorSet.SetDraw(hv_ImageWindow, "margin");
HOperatorSet.SetLineWidth(hv_ImageWindow, 2);
HOperatorSet.DispObj(ho_Rectangle, hv_ImageWindow);
HOperatorSet.SetLineWidth(hv_ImageWindow, 1);
ho_Rectangle.Dispose();
}
// 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();
}
/// <summary>
/// 获取 吸嘴中新对准点
/// </summary>
/// <param name="snappos"></param>
/// <param name="u0degModle"></param>
/// <param name="Point2dVisionCoor"></param>
/// <returns></returns>
public XYUPoint GetPosWhenUpCameraSnap(int nIndex, XYUPoint snappos, XYUPoint Point2dVisionCoor)
{
XYUPoint posull = new XYUPoint(double.MaxValue, double.MaxValue, double.MaxValue);
if (nIndex > resultCalibMulitNozzle.nozzleSturts.Count || nIndex < 0)
{
return(posull);
}
XYUPoint NozzleCalibRobotCoor = resultCalibMulitNozzle.nozzleSturts[nIndex].NozzleCalibRobotCoor;
Point2d NozzleCalibVisionCoor = resultCalibMulitNozzle.nozzleSturts[nIndex].NozzleCalibVisionCoor;
double u0degModle = resultCalibMulitNozzle.nozzleSturts[nIndex].u0degModle;
bool IsCounterclockwise_Rotation = resultCalibMulitNozzle.nozzleSturts[nIndex].IsCounterclockwise_Rotation;
// u0degModle 0 度模板（做模板） u的角度
HTuple qx, qy;
HTuple dsqx, dsqy;
HTuple dcqx, dcqy;
HOperatorSet.AffineTransPoint2d(m_Hom2Drtd, snappos.x, snappos.y, out dsqx, out dsqy);
HOperatorSet.AffineTransPoint2d(m_Hom2Drtd, CalibPos.x, CalibPos.y, out dcqx, out dcqy);
HTuple calbx, calby;
HOperatorSet.AffineTransPoint2d(m_Hom2Ddtr, dcqx, dcqy, out calbx, out calby);
HOperatorSet.AffineTransPoint2d(m_Hom2Dutd, Point2dVisionCoor.x, Point2dVisionCoor.y, out qx, out qy);
HTuple vecx, vecy;
vecx = dsqx - dcqx;
vecy = dsqy - dcqy;
//mark 坐标
HTuple dmarkx, dmarky;
dmarkx = qx + vecx;
dmarky = qy + vecy;
HTuple rmarkx, rmarky;
HOperatorSet.AffineTransPoint2d(m_Hom2Ddtr, dmarkx, dmarky, out rmarkx, out rmarky);
if (Point2dVisionCoor.u > Math.PI)
{
Point2dVisionCoor.u = Point2dVisionCoor.u - 2 * Math.PI;
}
else if (Point2dVisionCoor.u < -Math.PI)
{
Point2dVisionCoor.u = Point2dVisionCoor.u + 2 * Math.PI;
}
//旋转轴的物理 角度
HTuple tupleAngle = 0;
if (!IsCounterclockwise_Rotation)// 旋转轴 正向 逆时针 IsCounterclockwise_Rotation=ture
{
tupleAngle = u0degModle - 180.000 * Point2dVisionCoor.u / Math.PI;
}
else
{
tupleAngle = u0degModle + 180.000 * Point2dVisionCoor.u / Math.PI;
}
HTuple rqx, rqy;
HOperatorSet.AffineTransPoint2d(m_Hom2Ddtr, qx, qy, out rqx, out rqy);
XYUPoint post = new XYUPoint();
post.x = rqx + snappos.x - CalibPos.x;
post.y = rqy + snappos.y - CalibPos.y;
HTuple vecNx, vecNy;
HTuple dcnqx, dcnqy;
HOperatorSet.AffineTransPoint2d(m_Hom2Drtd, NozzleCalibRobotCoor.x, NozzleCalibRobotCoor.y, out dcnqx, out dcnqy);
vecNx = NozzleCalibVisionCoor.x - dcnqx;
vecNy = NozzleCalibVisionCoor.y - dcnqy;
HTuple lens = Math.Sqrt(vecNx.D * vecNx.D + vecNy.D * vecNy.D);
//需要旋转的角度
HTuple AngleRote = tupleAngle - snappos.u;
HTuple tupleAnglecalib = 0;
HOperatorSet.AngleLx(dcnqy, dcnqx, NozzleCalibVisionCoor.y, NozzleCalibVisionCoor.x, out tupleAnglecalib);
// HOperatorSet.AngleLl(0,0,0,100,dcnqy, dcnqx, NozzleCalibVisionCoor.y, NozzleCalibVisionCoor.x, out tupleAnglecalib);
HTuple destangleandR = 0;
if (!IsCounterclockwise_Rotation)
{
destangleandR = tupleAnglecalib - Math.PI * (tupleAngle - NozzleCalibRobotCoor.u) / 180.0000;
}
else
{
destangleandR = tupleAnglecalib + Math.PI * (tupleAngle - NozzleCalibRobotCoor.u) / 180.0000;
}
HTuple Destnozzledx = dsqx + Math.Cos(destangleandR.D) * lens;
HTuple Destnozzledy = dsqy - Math.Sin(destangleandR.D) * lens;
HTuple rnozzlex, rnozzley;
HOperatorSet.AffineTransPoint2d(m_Hom2Ddtr, Destnozzledx, Destnozzledy, out rnozzlex, out rnozzley);
HTuple offsetx = rmarkx - rnozzlex;
HTuple offsety = rmarky - rnozzley;
XYUPoint pos = new XYUPoint(snappos.x + offsetx.D, snappos.y + offsety.D, tupleAngle);
return(pos);
}
/// <summary>
/// 获取 吸嘴中新对准点 上相机拍照 获取吸嘴对应的点视觉坐标 转换得出 机械坐标点（带旋转的机械手 适用 上相机 拍照拾取）
/// </summary>带旋转的机械手 适用 上相机 拍照拾取
/// <param name="snappos"> 拍照点 机械手坐标</param>
/// <param name="u0degModle"> 0 度模板对应的 机械手 机械坐标</param>
/// <param name="Point2dVisionCoor">视觉mark的视觉坐标</param>
/// <returns></returns>
public XYUPoint GetPosWhenUpCameraSnap(XYUPoint snappos, double u0degModle, XYUPoint Point2dVisionCoor)
{
// u0degModle 0 度模板（做模板） u的角度
HTuple qx, qy;
HTuple dsqx, dsqy;
HTuple dcqx, dcqy;
HOperatorSet.AffineTransPoint2d(m_Hom2Drtd, snappos.x, snappos.y, out dsqx, out dsqy);
HOperatorSet.AffineTransPoint2d(m_Hom2Drtd, CalibPos.x, CalibPos.y, out dcqx, out dcqy);
HTuple calbx, calby;
HOperatorSet.AffineTransPoint2d(m_Hom2Ddtr, dcqx, dcqy, out calbx, out calby);
HOperatorSet.AffineTransPoint2d(m_Hom2Dutd, Point2dVisionCoor.x, Point2dVisionCoor.y, out qx, out qy);
HTuple vecx, vecy;
vecx = dsqx - dcqx;
vecy = dsqy - dcqy;
//mark 坐标
HTuple dmarkx, dmarky;
dmarkx = qx + vecx;
dmarky = qy + vecy;
HTuple rmarkx, rmarky;
HOperatorSet.AffineTransPoint2d(m_Hom2Ddtr, dmarkx, dmarky, out rmarkx, out rmarky);
if (Point2dVisionCoor.u > Math.PI)
{
Point2dVisionCoor.u = Point2dVisionCoor.u - 2 * Math.PI;
}
else if (Point2dVisionCoor.u < -Math.PI)
{
Point2dVisionCoor.u = Point2dVisionCoor.u + 2 * Math.PI;
}
HTuple tupleAngle = u0degModle - 180.000 * Point2dVisionCoor.u / Math.PI;
HTuple rqx, rqy;
//HOperatorSet.AffineTransPoint2d(m_Hom2Ddtr, qx, qy, out rqx, out rqy);
//XYUPoint post = new XYUPoint();
//post.x = rqx + snappos.x - CalibPos.x;
//post.y = rqy + snappos.y - CalibPos.y;
HTuple vecNx, vecNy;
HTuple dcnqx, dcnqy;
HOperatorSet.AffineTransPoint2d(m_Hom2Drtd, NozzleCalibRobotCoor.x, NozzleCalibRobotCoor.y, out dcnqx, out dcnqy);
vecNx = NozzleCalibVisionCoor.x - dcnqx;
vecNy = NozzleCalibVisionCoor.y - dcnqy;
HTuple lens = Math.Sqrt(vecNx.D * vecNx.D + vecNy.D * vecNy.D);
////旋转后到的角度
// HTuple tupleAngle = u0degModle+180.000* Point2dVisionCoor.u/Math.PI;
//需要旋转的角度
HTuple AngleRote = tupleAngle - snappos.u;
HTuple tupleAnglecalib = 0;
HOperatorSet.AngleLx(dcnqy, dcnqx, NozzleCalibVisionCoor.y, NozzleCalibVisionCoor.x, out tupleAnglecalib);
// HOperatorSet.AngleLl(0,0,0,100,dcnqy, dcnqx, NozzleCalibVisionCoor.y, NozzleCalibVisionCoor.x, out tupleAnglecalib);
HTuple destangleandR = tupleAnglecalib - Math.PI * (tupleAngle - NozzleCalibRobotCoor.u) / 180.0000;
HTuple Destnozzledx = dsqx + Math.Cos(destangleandR.D) * lens;
HTuple Destnozzledy = dsqy - Math.Sin(destangleandR.D) * lens;
HTuple rnozzlex, rnozzley;
HOperatorSet.AffineTransPoint2d(m_Hom2Ddtr, Destnozzledx, Destnozzledy, out rnozzlex, out rnozzley);
HTuple offsetx = rmarkx - rnozzlex;
HTuple offsety = rmarky - rnozzley;
XYUPoint pos = new XYUPoint(snappos.x + offsetx.D, snappos.y + offsety.D, tupleAngle);
return(pos);
}
/// <summary>
/// 执行
/// </summary>
/// <param name="image">图像</param>
/// <param name="outputs">输出结果</param>
/// <returns>执行结果</returns>
public void Execute(object image, out ItemCollection outputs)
{
HObject hImage = image as HObject;
outputs = new ItemCollection();
stopwatch.Restart();
//初始化变量
HObject ho_GrayImage, ho_Regions;
HObject ho_ConnectedRegions, ho_SelectedRegions, ho_SelectedRegions1;
HObject ho_Cross1 = null, ho_Cross2 = null;
// Local control variables
HTuple hv_Area = null, hv_Row = null, hv_Column = null;
HTuple hv_Area1 = null, hv_Row1 = null, hv_Column1 = null;
HTuple hv_DistanceMin = new HTuple(), hv_DistanceMax = new HTuple();
HTuple hv_Index = new HTuple(), hv_TempDistance = new HTuple();
HTuple hv_Distance = new HTuple(), hv_Indices = new HTuple();
HTuple hv_Angle = new HTuple(), hv_Deg = new HTuple();
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_GrayImage);
HOperatorSet.GenEmptyObj(out ho_Regions);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions1);
HOperatorSet.GenEmptyObj(out ho_Cross1);
HOperatorSet.GenEmptyObj(out ho_Cross2);
try
{
HTuple width, height;
HOperatorSet.GetImageSize(hImage, out width, out height);
//若未初始化,则进行初始化
if (!isInit)
{
isInit = true;
}
if (runningWindow == null)
{
try
{
runningWindow = (RunningWindow as HSmartWindowControlWPF).HalconWindow;
}
catch (Exception)
{
}
}
if (configWindow == null)
{
try
{
configWindow = (ConfigWindow as HSmartWindowControlWPF).HalconWindow;
}
catch (Exception)
{
}
}
HOperatorSet.SetSystem("flush_graphic", "false");
if (runningWindow != null)
{
SetWindowPart(runningWindow, width, height);
HOperatorSet.ClearWindow(runningWindow);
HOperatorSet.DispObj(hImage, runningWindow);
}
if (configWindow != null)
{
SetWindowPart(configWindow, width, height);
HOperatorSet.ClearWindow(configWindow);
HOperatorSet.DispObj(hImage, configWindow);
}
//执行主任务
ho_GrayImage.Dispose();
HOperatorSet.Rgb1ToGray(hImage, out ho_GrayImage);
//Blob
ho_Regions.Dispose();
HOperatorSet.Threshold(ho_GrayImage, out ho_Regions, 100, 255);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_Regions, out ho_ConnectedRegions);
//选择圆
ho_SelectedRegions.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions, (new HTuple("circularity")).TupleConcat(
"area"), "and", (new HTuple(0.85)).TupleConcat(7000), (new HTuple(1)).TupleConcat(
8000));
HOperatorSet.AreaCenter(ho_SelectedRegions, out hv_Area, out hv_Row, out hv_Column);
//选择Mask点
ho_SelectedRegions1.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions1, ((new HTuple("height")).TupleConcat(
"area")).TupleConcat("width"), "and", ((new HTuple(35)).TupleConcat(1000)).TupleConcat(
35), ((new HTuple(70)).TupleConcat(1600)).TupleConcat(70));
HOperatorSet.AreaCenter(ho_SelectedRegions1, out hv_Area1, out hv_Row1, out hv_Column1);
if ((int)((new HTuple((new HTuple(hv_Row.TupleLength())).TupleGreater(1))).TupleAnd(
new HTuple((new HTuple(hv_Row1.TupleLength())).TupleGreater(0)))) != 0)
{
//找出与Mask点距离最短的原点
HOperatorSet.DistancePr(ho_SelectedRegions, hv_Row1, hv_Column1, out hv_DistanceMin,
out hv_DistanceMax);
for (hv_Index = 1; (int)hv_Index <= (int)(new HTuple(hv_Row.TupleLength())); hv_Index = (int)hv_Index + 1)
{
HOperatorSet.DistancePp(hv_Row.TupleSelect(hv_Index - 1), hv_Column.TupleSelect(
hv_Index - 1), hv_Row1.TupleSelect(0), hv_Column1.TupleSelect(0), out hv_TempDistance);
hv_Distance = hv_Distance.TupleConcat(hv_TempDistance);
}
HOperatorSet.TupleSortIndex(hv_Distance, out hv_Indices);
//原点角度
HOperatorSet.AngleLx(hv_Row.TupleSelect(hv_Indices.TupleSelect(0)), hv_Column.TupleSelect(
hv_Indices.TupleSelect(0)), hv_Row.TupleSelect(hv_Indices.TupleSelect((new HTuple(hv_Indices.TupleLength()
)) - 1)), hv_Column.TupleSelect(hv_Indices.TupleSelect((new HTuple(hv_Indices.TupleLength()
)) - 1)), out hv_Angle);
HOperatorSet.TupleDeg(hv_Angle, out hv_Deg);
Outputs["BaseX"].Value = hv_Column.TupleSelect(hv_Indices.TupleSelect(0)).D;
Outputs["BaseY"].Value = hv_Row.TupleSelect(hv_Indices.TupleSelect(0)).D;
Outputs["Angle"].Value = hv_Angle.D;
//显示结果
ho_Cross1.Dispose();
HOperatorSet.GenCrossContourXld(out ho_Cross1, hv_Row.TupleSelect(hv_Indices.TupleSelect(
0)), hv_Column.TupleSelect(hv_Indices.TupleSelect(0)), 24, 0.785398);
ho_Cross2.Dispose();
HOperatorSet.GenCrossContourXld(out ho_Cross2, hv_Row.TupleSelect(hv_Indices.TupleSelect(
(new HTuple(hv_Indices.TupleLength())) - 1)), hv_Column.TupleSelect(hv_Indices.TupleSelect(
(new HTuple(hv_Indices.TupleLength())) - 1)), 24, 0.785398);
if (runningWindow != null)
{
HOperatorSet.DispObj(hImage, runningWindow);
HOperatorSet.DispObj(ho_SelectedRegions, runningWindow);
HOperatorSet.DispObj(ho_SelectedRegions1, runningWindow);
HOperatorSet.DispObj(ho_Cross1, runningWindow);
HOperatorSet.DispObj(ho_Cross2, runningWindow);
HOperatorSet.DispLine(runningWindow, hv_Row.TupleSelect(hv_Indices.TupleSelect(
0)), hv_Column.TupleSelect(hv_Indices.TupleSelect(0)), hv_Row.TupleSelect(
hv_Indices.TupleSelect((new HTuple(hv_Indices.TupleLength())) - 1)), hv_Column.TupleSelect(
hv_Indices.TupleSelect((new HTuple(hv_Indices.TupleLength())) - 1)));
}
if (configWindow != null)
{
HOperatorSet.DispObj(ho_SelectedRegions, configWindow);
HOperatorSet.DispObj(ho_SelectedRegions1, configWindow);
HOperatorSet.DispObj(ho_Cross1, configWindow);
HOperatorSet.DispObj(ho_Cross2, configWindow);
HOperatorSet.DispLine(configWindow, hv_Row.TupleSelect(hv_Indices.TupleSelect(
0)), hv_Column.TupleSelect(hv_Indices.TupleSelect(0)), hv_Row.TupleSelect(
hv_Indices.TupleSelect((new HTuple(hv_Indices.TupleLength())) - 1)), hv_Column.TupleSelect(
hv_Indices.TupleSelect((new HTuple(hv_Indices.TupleLength())) - 1)));
}
}
stopwatch.Stop();
RunStatus = new RunStatus(stopwatch.Elapsed.TotalMilliseconds);
outputs = new ItemCollection(Outputs);
}
catch (Exception ex)
{
stopwatch.Stop();
RunStatus = new RunStatus(stopwatch.Elapsed.TotalMilliseconds, EResult.Error, ex.Message, ex);
throw;
}
finally
{
HOperatorSet.SetSystem("flush_graphic", "true");
//释放本次运行的临时资源
hImage.Dispose();
ho_GrayImage.Dispose();
ho_Regions.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions.Dispose();
ho_SelectedRegions1.Dispose();
ho_Cross1.Dispose();
ho_Cross2.Dispose();
}
}
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 action()
{
// Stack for temporary objects
HObject[] OTemp = new HObject[20];
// Local iconic variables
HObject ho_Rectangle, ho_ImageReduced;
HObject ho_Region, ho_ConnectedRegions, ho_SelectedRegions;
HObject ho_Rectangle1, ho_ImageRotate, ho_Region1, ho_RegionAffineTrans;
HObject ho_Region2, ho_RegionUnionu, ho_RegionUniond, ho_Contours;
HObject ho_SelectedContours, ho_SmoothedContours1, ho_ClippedContoursu;
HObject ho_ClippedContoursd, ho_Rectangle2, ho_ClippedContoursuObjectSelected = null;
HObject ho_ClippedContoursdObjectSelected = null, ho_Circle = null;
HObject ho_Circle1 = null, ho_ConnectedRegions1, ho_SelectedRegions1;
HObject ho_SortedRegionssdj, ho_Region3, ho_ConnectedRegions2;
HObject ho_SelectedRegions2, ho_SortedRegionsxdj, ho_RegionLines = null;
HObject ho_RegionAffineTrans1;
// Local control variables
HTuple hv_Width = null, hv_Height = null;
HTuple hv_jd = null, hv_Row = null, hv_Column = null, hv_Phi = null;
HTuple hv_Length1 = null, hv_Length2 = null, hv_HomMat2DIdentity = null;
HTuple hv_HomMat2DRotate = null, hv_Row1 = null, hv_Column1 = null;
HTuple hv_Row2 = null, hv_Column2 = null, hv_Rown = null;
HTuple hv_Rowu = null, hv_Columnu = null, hv_Phiu = null;
HTuple hv_Length1u = null, hv_Length2u = null, hv_MeasureHandleu = null;
HTuple hv_GrayValuesu = null, hv_Sigmau = null, hv_Functionu = null;
HTuple hv_SmoothedFunctionu = null, hv_FirstDerivativeu = null;
HTuple hv_ZeroCrossingsu = null, hv_RowStartu = null, hv_ColStartu = null;
HTuple hv_RowEndu = null, hv_ColEndu = null, hv_iu = null;
HTuple hv_Rowd = null, hv_Columnd = null, hv_Phid = null;
HTuple hv_Length1d = null, hv_Length2d = null, hv_MeasureHandled = null;
HTuple hv_GrayValuesd = null, hv_Sigmad = null, hv_Functiond = null;
HTuple hv_SmoothedFunctiond = null, hv_FirstDerivatived = null;
HTuple hv_ZeroCrossingsd = null, hv_RowStartd = null, hv_ColStartd = null;
HTuple hv_RowEndd = null, hv_ColEndd = null, hv_id = null;
HTuple hv_RowIntuAll = null, hv_ColumnIntuAll = null, hv_u1 = null;
HTuple hv_i = null, hv_Length = new HTuple(), hv_Indices1 = new HTuple();
HTuple hv_RowIntu = new HTuple(), hv_ColumnIntu = new HTuple();
HTuple hv_IsOverlappingu = new HTuple(), hv_RowIntdAll = null;
HTuple hv_ColumnIntdAll = null, hv_j = null, hv_RowIntd = new HTuple();
HTuple hv_ColumnIntd = new HTuple(), hv_IsOverlappingd = new HTuple();
HTuple hv_Sortedu = null, hv_Sortedd = null, hv_RowIntuu = null;
HTuple hv_ColumnIntuu = null, hv_RowIntud = null, hv_ColumnIntud = null;
HTuple hv_uu = null, hv_ud = null, hv_ub1 = null, hv_RowIntdu = null;
HTuple hv_ColumnIntdu = null, hv_RowIntdd = null, hv_ColumnIntdd = null;
HTuple hv_du = null, hv_dd = null, hv_db1 = null, hv_Areasdj = null;
HTuple hv_Rowsdj = null, hv_Columnsdj = null, hv_sdj = null;
HTuple hv_Areaxdj = null, hv_Rowxdj = null, hv_Columnxdj = null;
HTuple hv_xdj = null, hv_djsl1 = null, hv_djsl = null;
HTuple hv_Mean1 = null, hv_Mean2 = null, hv_Mean3 = null;
HTuple hv_Mean4 = null, hv_Columnuu = null, hv_Columndd = null;
HTuple hv_AngleAll = null, hv_l = null, hv_Angle = new HTuple();
HTuple hv_DegAll = null, hv_Mean5 = null, hv_Mean8 = null;
HTuple hv_Columnuum = null, hv_uum1 = null, hv_uus = null;
HTuple hv_Columnddm = null, hv_ddm = null, hv_dds = null;
HTuple hv_ColumnmArr = null, hv_Mean9 = null, hv_Mean10 = null;
HTuple hv_Sorteda = null, hv_Ai = null, hv_Ax = null, hv_pixeldist = null;
HTuple hv_L = null, hv_D = null, hv_Dmax = null, hv_Dmin = null;
HTuple hv_d = null, hv_dmax = null, hv_dmin = null, hv_LS = null;
HTuple hv_HomMat2DIdentity1 = null, hv_HomMat2DRotate1 = null;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Rectangle);
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_Region);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
HOperatorSet.GenEmptyObj(out ho_Rectangle1);
HOperatorSet.GenEmptyObj(out ho_ImageRotate);
HOperatorSet.GenEmptyObj(out ho_Region1);
HOperatorSet.GenEmptyObj(out ho_RegionAffineTrans);
HOperatorSet.GenEmptyObj(out ho_Region2);
HOperatorSet.GenEmptyObj(out ho_RegionUnionu);
HOperatorSet.GenEmptyObj(out ho_RegionUniond);
HOperatorSet.GenEmptyObj(out ho_Contours);
HOperatorSet.GenEmptyObj(out ho_SelectedContours);
HOperatorSet.GenEmptyObj(out ho_SmoothedContours1);
HOperatorSet.GenEmptyObj(out ho_ClippedContoursu);
HOperatorSet.GenEmptyObj(out ho_ClippedContoursd);
HOperatorSet.GenEmptyObj(out ho_Rectangle2);
HOperatorSet.GenEmptyObj(out ho_ClippedContoursuObjectSelected);
HOperatorSet.GenEmptyObj(out ho_ClippedContoursdObjectSelected);
HOperatorSet.GenEmptyObj(out ho_Circle);
HOperatorSet.GenEmptyObj(out ho_Circle1);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions1);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions1);
HOperatorSet.GenEmptyObj(out ho_SortedRegionssdj);
HOperatorSet.GenEmptyObj(out ho_Region3);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions2);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions2);
HOperatorSet.GenEmptyObj(out ho_SortedRegionsxdj);
HOperatorSet.GenEmptyObj(out ho_RegionLines);
HOperatorSet.GenEmptyObj(out ho_RegionAffineTrans1);
HOperatorSet.Union1(algorithm.Region, out RegionToDisp);
try
{
HOperatorSet.GetImageSize(Image, out hv_Width, out hv_Height);
ho_Rectangle.Dispose();
HOperatorSet.GenRectangle1(out ho_Rectangle, DRow1m, DCol1m, DRow2m, DCol2m);
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(Image, ho_Rectangle, out ho_ImageReduced);
//*
ho_Region.Dispose();
HOperatorSet.Threshold(ho_ImageReduced, out ho_Region, 0, 128);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_Region, out ho_ConnectedRegions);
ho_SelectedRegions.Dispose();
HOperatorSet.SelectShapeStd(ho_ConnectedRegions, out ho_SelectedRegions, "max_area",
70);
//hv_jd = 0;
HOperatorSet.SmallestRectangle2(ho_SelectedRegions, out hv_Row, out hv_Column,
out hv_Phi, out hv_Length1, out hv_Length2);
ho_Rectangle1.Dispose();
HOperatorSet.GenRectangle2(out ho_Rectangle1, hv_Row, hv_Column, hv_Phi, hv_Length1,
hv_Length2);
ho_ImageRotate.Dispose();
HOperatorSet.RotateImage(Image, out ho_ImageRotate, -(hv_Phi.TupleDeg()),
"constant");
//*
ho_Region1.Dispose();
HOperatorSet.Threshold(ho_ImageRotate, out ho_Region1, 0, 128);
//*
HOperatorSet.HomMat2dIdentity(out hv_HomMat2DIdentity);
HOperatorSet.HomMat2dRotate(hv_HomMat2DIdentity, -hv_Phi, hv_Height / 2, hv_Width / 2,
out hv_HomMat2DRotate);
ho_RegionAffineTrans.Dispose();
HOperatorSet.AffineTransRegion(ho_Rectangle1, out ho_RegionAffineTrans, hv_HomMat2DRotate,
"nearest_neighbor");
HOperatorSet.SmallestRectangle1(ho_RegionAffineTrans, out hv_Row1, out hv_Column1,
out hv_Row2, out hv_Column2);
//***
ho_Region2.Dispose();
HOperatorSet.GenRegionPoints(out ho_Region2, hv_Row1, hv_Column1);
ho_RegionUnionu.Dispose();
HOperatorSet.Union1(ho_Region2, out ho_RegionUnionu);
ho_RegionUniond.Dispose();
HOperatorSet.Union1(ho_Region2, out ho_RegionUniond);
ho_Contours.Dispose();
HOperatorSet.GenContourRegionXld(ho_Region1, out ho_Contours, "border");
ho_SelectedContours.Dispose();
HOperatorSet.SelectContoursXld(ho_Contours, out ho_SelectedContours, "contour_length",
20, 2000000, -1, 1);
ho_SmoothedContours1.Dispose();
HOperatorSet.SmoothContoursXld(ho_SelectedContours, out ho_SmoothedContours1,
13);
//*
hv_Rown = (hv_Row1 + hv_Row2) / 2;
ho_ClippedContoursu.Dispose();
HOperatorSet.ClipContoursXld(ho_SmoothedContours1, out ho_ClippedContoursu, hv_Row1,
hv_Column1, hv_Rown, hv_Column2);
ho_ClippedContoursd.Dispose();
HOperatorSet.ClipContoursXld(ho_SmoothedContours1, out ho_ClippedContoursd, hv_Rown,
hv_Column1, hv_Row2, hv_Column2);
hv_Rowu = (hv_Row1 + hv_Rown) / 2;
hv_Columnu = (hv_Column1 + hv_Column2) / 2;
hv_Phiu = 0;
hv_Length1u = (hv_Column2 - hv_Column1) / 2;
hv_Length2u = (hv_Rown - hv_Row1) / 2;
//dev_set_draw ('margin')
HOperatorSet.GenMeasureRectangle2(hv_Rowu, hv_Columnu, hv_Phiu, hv_Length1u,
hv_Length2u, hv_Width, hv_Height, "bilinear", out hv_MeasureHandleu);
ho_Rectangle2.Dispose();
HOperatorSet.GenRectangle2(out ho_Rectangle2, hv_Rowu, hv_Columnu, hv_Phiu, hv_Length1u,
hv_Length2u);
HOperatorSet.MeasureProjection(ho_ImageRotate, hv_MeasureHandleu, out hv_GrayValuesu);
hv_Sigmau = 5;
HOperatorSet.CreateFunct1dArray(hv_GrayValuesu, out hv_Functionu);
HOperatorSet.SmoothFunct1dGauss(hv_Functionu, hv_Sigmau, out hv_SmoothedFunctionu);
HOperatorSet.DerivateFunct1d(hv_SmoothedFunctionu, "first", out hv_FirstDerivativeu);
HOperatorSet.ZeroCrossingsFunct1d(hv_FirstDerivativeu, out hv_ZeroCrossingsu);
hv_RowStartu = hv_Rowu - (hv_Length2u / 2);
hv_ColStartu = (hv_Columnu - hv_Length1u) + hv_ZeroCrossingsu;
hv_RowEndu = hv_Rowu + (hv_Length2u / 2);
hv_ColEndu = (hv_Columnu - hv_Length1u) + hv_ZeroCrossingsu;
hv_iu = new HTuple(hv_ZeroCrossingsu.TupleLength());
hv_Rowd = (hv_Rown + hv_Row2) / 2;
hv_Columnd = (hv_Column1 + hv_Column2) / 2;
hv_Phid = 0;
hv_Length1d = (hv_Column2 - hv_Column1) / 2;
hv_Length2d = (hv_Row2 - hv_Rown) / 2;
HOperatorSet.GenMeasureRectangle2(hv_Rowd, hv_Columnd, hv_Phid, hv_Length1d,
hv_Length2d, hv_Width, hv_Height, "bilinear", out hv_MeasureHandled);
HOperatorSet.MeasureProjection(ho_ImageRotate, hv_MeasureHandled, out hv_GrayValuesd);
//
hv_Sigmad = 5;
HOperatorSet.CreateFunct1dArray(hv_GrayValuesd, out hv_Functiond);
HOperatorSet.SmoothFunct1dGauss(hv_Functiond, hv_Sigmad, out hv_SmoothedFunctiond);
HOperatorSet.DerivateFunct1d(hv_SmoothedFunctiond, "first", out hv_FirstDerivatived);
HOperatorSet.ZeroCrossingsFunct1d(hv_FirstDerivatived, out hv_ZeroCrossingsd);
HOperatorSet.CloseMeasure(hv_MeasureHandleu);
HOperatorSet.CloseMeasure(hv_MeasureHandled);
hv_RowStartd = hv_Rowd - (hv_Length2d / 2);
hv_ColStartd = (hv_Columnd - hv_Length1d) + hv_ZeroCrossingsd;
hv_RowEndd = hv_Rowd + (hv_Length2d / 2);
hv_ColEndd = (hv_Columnd - hv_Length1d) + hv_ZeroCrossingsd;
hv_id = new HTuple(hv_ZeroCrossingsd.TupleLength());
hv_RowIntuAll = new HTuple();
hv_ColumnIntuAll = new HTuple();
hv_u1 = 0;
HTuple end_val96 = hv_iu - 1;
HTuple step_val96 = 1;
for (hv_i = 0; hv_i.Continue(end_val96, step_val96); hv_i = hv_i.TupleAdd(step_val96))
{
HOperatorSet.LengthXld(ho_ClippedContoursu, out hv_Length);
HOperatorSet.TupleFind(hv_Length, hv_Length.TupleMax(), out hv_Indices1);
ho_ClippedContoursuObjectSelected.Dispose();
HOperatorSet.SelectObj(ho_ClippedContoursu, out ho_ClippedContoursuObjectSelected,
hv_Indices1 + 1);
HOperatorSet.IntersectionLineContourXld(ho_ClippedContoursuObjectSelected,
hv_RowStartu, hv_ColStartu.TupleSelect(hv_i), hv_RowEndu, hv_ColEndu.TupleSelect(
hv_i), out hv_RowIntu, out hv_ColumnIntu, out hv_IsOverlappingu);
//*gen_cross_contour_xld (Cross1u, RowIntu, ColumnIntu, 12, 0)//根据每个输入点交叉的形状创键一个XLD轮廓(contour)
hv_RowIntuAll = hv_RowIntuAll.TupleConcat(hv_RowIntu);
hv_ColumnIntuAll = hv_ColumnIntuAll.TupleConcat(hv_ColumnIntu);
hv_u1 = hv_u1 + 1;
}
hv_RowIntdAll = new HTuple();
hv_ColumnIntdAll = new HTuple();
HTuple end_val109 = hv_id - 1;
HTuple step_val109 = 1;
for (hv_j = 0; hv_j.Continue(end_val109, step_val109); hv_j = hv_j.TupleAdd(step_val109))
{
HOperatorSet.LengthXld(ho_ClippedContoursd, out hv_Length);
HOperatorSet.TupleFind(hv_Length, hv_Length.TupleMax(), out hv_Indices1);
ho_ClippedContoursdObjectSelected.Dispose();
HOperatorSet.SelectObj(ho_ClippedContoursd, out ho_ClippedContoursdObjectSelected,
hv_Indices1 + 1);
HOperatorSet.IntersectionLineContourXld(ho_ClippedContoursdObjectSelected,
hv_RowStartd, hv_ColStartd.TupleSelect(hv_j), hv_RowEndd, hv_ColEndd.TupleSelect(
hv_j), out hv_RowIntd, out hv_ColumnIntd, out hv_IsOverlappingd);
//*gen_cross_contour_xld (Cross1d, RowIntd, ColumnIntd, 12, 0)//根据每个输入点交叉的形状创键一个XLD轮廓(contour)
hv_RowIntdAll = hv_RowIntdAll.TupleConcat(hv_RowIntd);
hv_ColumnIntdAll = hv_ColumnIntdAll.TupleConcat(hv_ColumnIntd);
}
//stop ()
HOperatorSet.TupleSort(hv_RowIntuAll, out hv_Sortedu);
HOperatorSet.TupleSort(hv_RowIntdAll, out hv_Sortedd);
hv_RowIntuu = new HTuple();
hv_ColumnIntuu = new HTuple();
hv_RowIntud = new HTuple();
hv_ColumnIntud = new HTuple();
hv_uu = 0;
hv_ud = 0;
for (hv_ub1 = 0; (int)hv_ub1 <= (int)((new HTuple(hv_Sortedu.TupleLength())) - 1); hv_ub1 = (int)hv_ub1 + 1)
{
if ((int)(new HTuple(((hv_RowIntuAll.TupleSelect(hv_ub1))).TupleLess(((((hv_Sortedu.TupleSelect(
0)) * 2) + (hv_Sortedu.TupleSelect((new HTuple(hv_Sortedu.TupleLength())) - 1))) / 3) + 3))) != 0)
{
hv_RowIntuu = hv_RowIntuu.TupleConcat(hv_RowIntuAll.TupleSelect(hv_ub1));
hv_ColumnIntuu = hv_ColumnIntuu.TupleConcat(hv_ColumnIntuAll.TupleSelect(
hv_ub1));
ho_Circle.Dispose();
HOperatorSet.GenCircle(out ho_Circle, hv_RowIntuAll.TupleSelect(hv_ub1),
hv_ColumnIntuAll.TupleSelect(hv_ub1), 1);
{
HObject ExpTmpOutVar_0;
HOperatorSet.Union2(ho_RegionUnionu, ho_Circle, out ExpTmpOutVar_0);
ho_RegionUnionu.Dispose();
ho_RegionUnionu = ExpTmpOutVar_0;
}
hv_uu = hv_uu + 1;
}
if ((int)(new HTuple(((hv_RowIntuAll.TupleSelect(hv_ub1))).TupleGreater((((hv_Sortedu.TupleSelect(
0)) + ((hv_Sortedu.TupleSelect((new HTuple(hv_Sortedu.TupleLength())) - 1)) * 2)) / 3) - 3))) != 0)
{
hv_RowIntud = hv_RowIntud.TupleConcat(hv_RowIntuAll.TupleSelect(hv_ub1));
hv_ColumnIntud = hv_ColumnIntud.TupleConcat(hv_ColumnIntuAll.TupleSelect(
hv_ub1));
hv_ud = hv_ud + 1;
}
}
//stop ()
hv_RowIntdu = new HTuple();
hv_ColumnIntdu = new HTuple();
hv_RowIntdd = new HTuple();
hv_ColumnIntdd = new HTuple();
hv_du = 0;
hv_dd = 0;
for (hv_db1 = 0; (int)hv_db1 <= (int)((new HTuple(hv_Sortedd.TupleLength())) - 1); hv_db1 = (int)hv_db1 + 1)
{
if ((int)(new HTuple(((hv_RowIntdAll.TupleSelect(hv_db1))).TupleLess(((((hv_Sortedd.TupleSelect(
0)) * 2) + (hv_Sortedd.TupleSelect((new HTuple(hv_Sortedd.TupleLength())) - 1))) / 3) + 3))) != 0)
{
hv_RowIntdu = hv_RowIntdu.TupleConcat(hv_RowIntdAll.TupleSelect(hv_db1));
hv_ColumnIntdu = hv_ColumnIntdu.TupleConcat(hv_ColumnIntdAll.TupleSelect(
hv_db1));
hv_du = hv_du + 1;
}
if ((int)(new HTuple(((hv_RowIntdAll.TupleSelect(hv_db1))).TupleGreater((((hv_Sortedd.TupleSelect(
0)) + ((hv_Sortedd.TupleSelect((new HTuple(hv_Sortedd.TupleLength())) - 1)) * 2)) / 3) - 3))) != 0)
{
hv_RowIntdd = hv_RowIntdd.TupleConcat(hv_RowIntdAll.TupleSelect(hv_db1));
hv_ColumnIntdd = hv_ColumnIntdd.TupleConcat(hv_ColumnIntdAll.TupleSelect(
hv_db1));
ho_Circle1.Dispose();
HOperatorSet.GenCircle(out ho_Circle1, hv_RowIntdAll.TupleSelect(hv_db1),
hv_ColumnIntdAll.TupleSelect(hv_db1), 1);
{
HObject ExpTmpOutVar_0;
HOperatorSet.Union2(ho_RegionUniond, ho_Circle1, out ExpTmpOutVar_0);
ho_RegionUniond.Dispose();
ho_RegionUniond = ExpTmpOutVar_0;
}
hv_dd = hv_dd + 1;
}
}
ho_ConnectedRegions1.Dispose();
HOperatorSet.Connection(ho_RegionUnionu, out ho_ConnectedRegions1);
ho_SelectedRegions1.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions1, out ho_SelectedRegions1, "area",
"and", 3, 99999);
ho_SortedRegionssdj.Dispose();
HOperatorSet.SortRegion(ho_SelectedRegions1, out ho_SortedRegionssdj, "upper_left",
"true", "column");
HOperatorSet.AreaCenter(ho_SortedRegionssdj, out hv_Areasdj, out hv_Rowsdj, out hv_Columnsdj);
ho_Region3.Dispose();
HOperatorSet.GenRegionPoints(out ho_Region3, hv_Rowsdj.TupleSelect(0), hv_Columnsdj.TupleSelect(
0));
hv_sdj = new HTuple(hv_Columnsdj.TupleLength());
ho_ConnectedRegions2.Dispose();
HOperatorSet.Connection(ho_RegionUniond, out ho_ConnectedRegions2);
ho_SelectedRegions2.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions2, out ho_SelectedRegions2, "area",
"and", 3, 99999);
ho_SortedRegionsxdj.Dispose();
HOperatorSet.SortRegion(ho_SelectedRegions2, out ho_SortedRegionsxdj, "upper_left",
"true", "column");
HOperatorSet.AreaCenter(ho_SortedRegionsxdj, out hv_Areaxdj, out hv_Rowxdj, out hv_Columnxdj);
hv_xdj = new HTuple(hv_Columnxdj.TupleLength());
hv_djsl1 = new HTuple();
hv_djsl1 = hv_djsl1.TupleConcat(hv_sdj);
hv_djsl1 = hv_djsl1.TupleConcat(hv_xdj);
HOperatorSet.TupleMin(hv_djsl1, out hv_djsl);
HOperatorSet.TupleMean(hv_RowIntuu, out hv_Mean1);
HOperatorSet.TupleMean(hv_RowIntud, out hv_Mean2);
HOperatorSet.TupleMean(hv_RowIntdu, out hv_Mean3);
HOperatorSet.TupleMean(hv_RowIntdd, out hv_Mean4);
hv_Columnuu = new HTuple();
hv_Columndd = new HTuple();
hv_AngleAll = new HTuple();
HTuple end_val191 = hv_djsl - 1;
HTuple step_val191 = 1;
for (hv_l = 0; hv_l.Continue(end_val191, step_val191); hv_l = hv_l.TupleAdd(step_val191))
{
ho_RegionLines.Dispose();
HOperatorSet.GenRegionLine(out ho_RegionLines, hv_Rowsdj.TupleSelect(hv_l),
hv_Columnsdj.TupleSelect(hv_l), hv_Rowxdj.TupleSelect(hv_l), hv_Columnxdj.TupleSelect(
hv_l));
{
HObject ExpTmpOutVar_0;
HOperatorSet.Union2(ho_Region3, ho_RegionLines, out ExpTmpOutVar_0);
ho_Region3.Dispose();
ho_Region3 = ExpTmpOutVar_0;
}
HOperatorSet.AngleLx(hv_Rowsdj.TupleSelect(hv_l), hv_Columnsdj.TupleSelect(
hv_l), hv_Rowxdj.TupleSelect(hv_l), hv_Columnxdj.TupleSelect(hv_l), out hv_Angle);
hv_AngleAll = hv_AngleAll.TupleConcat(0 - hv_Angle);
if ((int)(new HTuple(hv_l.TupleGreater(0))) != 0)
{
hv_Columnuu = hv_Columnuu.TupleConcat((hv_ColumnIntuu.TupleSelect(hv_l)) - (hv_ColumnIntuu.TupleSelect(
hv_l - 1)));
hv_Columndd = hv_Columndd.TupleConcat((hv_ColumnIntdd.TupleSelect(hv_l)) - (hv_ColumnIntdd.TupleSelect(
hv_l - 1)));
}
//stop ()
}
HOperatorSet.TupleDeg(hv_AngleAll, out hv_DegAll);
HOperatorSet.TupleMean(hv_Columnuu, out hv_Mean5);
HOperatorSet.TupleMean(hv_Columndd, out hv_Mean8);
//**过滤
hv_Columnuum = new HTuple();
hv_uum1 = 0;
for (hv_uus = 0; (int)hv_uus <= (int)((new HTuple(hv_Columnuu.TupleLength())) - 1); hv_uus = (int)hv_uus + 1)
{
if ((int)((new HTuple(hv_Columnuu.TupleLessEqual(hv_Mean5 * 1.1))).TupleAnd(new HTuple(hv_Columnuu.TupleGreaterEqual(
hv_Mean5 * 0.9)))) != 0)
{
hv_Columnuum = hv_Columnuum.TupleConcat(hv_Columnuu.TupleSelect(hv_uus));
hv_uum1 = hv_uum1 + 1;
}
}
hv_Columnddm = new HTuple();
hv_ddm = 0;
for (hv_dds = 0; (int)hv_dds <= (int)((new HTuple(hv_Columndd.TupleLength())) - 1); hv_dds = (int)hv_dds + 1)
{
if ((int)((new HTuple(hv_Columndd.TupleLessEqual(hv_Mean8 * 1.1))).TupleAnd(new HTuple(hv_Columndd.TupleGreaterEqual(
hv_Mean8 * 0.9)))) != 0)
{
hv_Columnddm = hv_Columnddm.TupleConcat(hv_Columndd.TupleSelect(hv_dds));
hv_ddm = hv_ddm + 1;
}
}
hv_ColumnmArr = new HTuple();
hv_ColumnmArr = hv_ColumnmArr.TupleConcat(hv_Columnuum);
hv_ColumnmArr = hv_ColumnmArr.TupleConcat(hv_Columnddm);
HOperatorSet.TupleMean(hv_ColumnmArr, out hv_Mean9);
HOperatorSet.TupleMean(hv_DegAll, out hv_Mean10);
HOperatorSet.TupleSort(hv_DegAll, out hv_Sorteda);
hv_Ai = hv_Sorteda[0];
hv_Ax = hv_Sorteda[(new HTuple(hv_Sorteda.TupleLength())) - 1];
hv_pixeldist = 1;
hv_L = ((hv_Columnsdj.TupleSelect(hv_djsl - 1)) - (hv_Columnsdj.TupleSelect(0))) * hv_pixeldist;
hv_D = (hv_Mean4 - hv_Mean1) * hv_pixeldist;
hv_Dmax = ((hv_RowIntdd.TupleMax()) - (hv_RowIntuu.TupleMin())) * hv_pixeldist;
hv_Dmin = ((hv_RowIntdd.TupleMin()) - (hv_RowIntuu.TupleMax())) * hv_pixeldist;
hv_d = (hv_Mean3 - hv_Mean2) * hv_pixeldist;
hv_dmax = ((hv_RowIntdu.TupleMax()) - (hv_RowIntud.TupleMin())) * hv_pixeldist;
hv_dmin = ((hv_RowIntdu.TupleMin()) - (hv_RowIntud.TupleMax())) * hv_pixeldist;
hv_LS = hv_Mean9 * hv_pixeldist;
//*区域旋转
HOperatorSet.HomMat2dIdentity(out hv_HomMat2DIdentity1);
HOperatorSet.HomMat2dRotate(hv_HomMat2DIdentity1, hv_Phi, hv_Height / 2, hv_Width / 2,
out hv_HomMat2DRotate1);
ho_RegionAffineTrans1.Dispose();
HOperatorSet.AffineTransRegion(ho_Region3, out ho_RegionAffineTrans1, hv_HomMat2DRotate1,
"nearest_neighbor");
HOperatorSet.Union1(ho_RegionAffineTrans1, out RegionToDisp);
HTuple hv_result = GetHv_result();
hv_result = hv_result.TupleConcat("齿数");
hv_result = hv_result.TupleConcat(hv_djsl.D);
hv_result = hv_result.TupleConcat("螺纹长度");
hv_result = hv_result.TupleConcat(hv_L.D * pixeldist);
hv_result = hv_result.TupleConcat("螺纹大径平均值");
hv_result = hv_result.TupleConcat(hv_D.D * pixeldist);
hv_result = hv_result.TupleConcat("螺纹大径最小值");
hv_result = hv_result.TupleConcat(hv_Dmin.D * pixeldist);
hv_result = hv_result.TupleConcat("螺纹大径最大值");
hv_result = hv_result.TupleConcat(hv_Dmax.D * pixeldist);
hv_result = hv_result.TupleConcat("螺纹小径平均值");
hv_result = hv_result.TupleConcat(hv_d.D * pixeldist);
hv_result = hv_result.TupleConcat("螺纹小径最小值");
hv_result = hv_result.TupleConcat(hv_dmin.D * pixeldist);
hv_result = hv_result.TupleConcat("螺纹小径最大值");
hv_result = hv_result.TupleConcat(hv_dmax.D * pixeldist);
hv_result = hv_result.TupleConcat("牙距");
hv_result = hv_result.TupleConcat(hv_LS.D * pixeldist);
hv_result = hv_result.TupleConcat("平均牙倾角");
hv_result = hv_result.TupleConcat(hv_Mean10.D);
hv_result = hv_result.TupleConcat("最小牙倾角");
hv_result = hv_result.TupleConcat(hv_Ai.D);
hv_result = hv_result.TupleConcat("最大牙倾角");
hv_result = hv_result.TupleConcat(hv_Ax.D);
result = hv_result.Clone();
ho_Rectangle.Dispose();
ho_ImageReduced.Dispose();
ho_Region.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions.Dispose();
ho_Rectangle1.Dispose();
ho_ImageRotate.Dispose();
ho_Region1.Dispose();
ho_RegionAffineTrans.Dispose();
ho_Region2.Dispose();
ho_RegionUnionu.Dispose();
ho_RegionUniond.Dispose();
ho_Contours.Dispose();
ho_SelectedContours.Dispose();
ho_SmoothedContours1.Dispose();
ho_ClippedContoursu.Dispose();
ho_ClippedContoursd.Dispose();
ho_Rectangle2.Dispose();
ho_ClippedContoursuObjectSelected.Dispose();
ho_ClippedContoursdObjectSelected.Dispose();
ho_Circle.Dispose();
ho_Circle1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions1.Dispose();
ho_SortedRegionssdj.Dispose();
ho_Region3.Dispose();
ho_ConnectedRegions2.Dispose();
ho_SelectedRegions2.Dispose();
ho_SortedRegionsxdj.Dispose();
ho_RegionLines.Dispose();
ho_RegionAffineTrans1.Dispose();
algorithm.Region.Dispose();
}
catch
{
HTuple hv_result = GetHv_result();
hv_result = hv_result.TupleConcat("齿数");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("螺纹长度");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("螺纹大径平均值");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("螺纹大径最小值");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("螺纹大径最大值");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("螺纹小径平均值");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("螺纹小径最小值");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("螺纹小径最大值");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("牙距");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("平均牙倾角");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("最小牙倾角");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("最大牙倾角");
hv_result = hv_result.TupleConcat(0);
result = hv_result.Clone();
ho_Rectangle.Dispose();
ho_ImageReduced.Dispose();
ho_Region.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions.Dispose();
ho_Rectangle1.Dispose();
ho_ImageRotate.Dispose();
ho_Region1.Dispose();
ho_RegionAffineTrans.Dispose();
ho_Region2.Dispose();
ho_RegionUnionu.Dispose();
ho_RegionUniond.Dispose();
ho_Contours.Dispose();
ho_SelectedContours.Dispose();
ho_SmoothedContours1.Dispose();
ho_ClippedContoursu.Dispose();
ho_ClippedContoursd.Dispose();
ho_Rectangle2.Dispose();
ho_ClippedContoursuObjectSelected.Dispose();
ho_ClippedContoursdObjectSelected.Dispose();
ho_Circle.Dispose();
ho_Circle1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions1.Dispose();
ho_SortedRegionssdj.Dispose();
ho_Region3.Dispose();
ho_ConnectedRegions2.Dispose();
ho_SelectedRegions2.Dispose();
ho_SortedRegionsxdj.Dispose();
ho_RegionLines.Dispose();
ho_RegionAffineTrans1.Dispose();
algorithm.Region.Dispose();
}
finally
{
ho_Rectangle.Dispose();
ho_ImageReduced.Dispose();
ho_Region.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions.Dispose();
ho_Rectangle1.Dispose();
ho_ImageRotate.Dispose();
ho_Region1.Dispose();
ho_RegionAffineTrans.Dispose();
ho_Region2.Dispose();
ho_RegionUnionu.Dispose();
ho_RegionUniond.Dispose();
ho_Contours.Dispose();
ho_SelectedContours.Dispose();
ho_SmoothedContours1.Dispose();
ho_ClippedContoursu.Dispose();
ho_ClippedContoursd.Dispose();
ho_Rectangle2.Dispose();
ho_ClippedContoursuObjectSelected.Dispose();
ho_ClippedContoursdObjectSelected.Dispose();
ho_Circle.Dispose();
ho_Circle1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions1.Dispose();
ho_SortedRegionssdj.Dispose();
ho_Region3.Dispose();
ho_ConnectedRegions2.Dispose();
ho_SelectedRegions2.Dispose();
ho_SortedRegionsxdj.Dispose();
ho_RegionLines.Dispose();
ho_RegionAffineTrans1.Dispose();
algorithm.Region.Dispose();
}
}
public void Run(SoftwareRunState softwareRunState)
{
Stopwatch sw = new Stopwatch();
sw.Restart();
HTuple homMat2DArrow = null;
HObject arrow = null, arrowTrans = null;
HObject drawLine = null, imageReducedLine;
if (inputImage == null)
{
FormFindLine.Instance.SetToolStatus("工具输入图像为空", ToolRunStatu.Not_Input_Image);
return;
}
try
{
UpdateImage();
if (inputPose != null)
{
HTuple Row = inputPose.X - templatePose.X;
HTuple Col = inputPose.Y - templatePose.Y;
HTuple angle = inputPose.U - templatePose.U;
HTuple _homMat2D;
HOperatorSet.HomMat2dIdentity(out _homMat2D);
HOperatorSet.HomMat2dRotate(_homMat2D, (HTuple)(angle), (HTuple)templatePose.X, (HTuple)templatePose.Y, out _homMat2D);
HOperatorSet.HomMat2dTranslate(_homMat2D, (HTuple)(Row), (HTuple)(Col), out _homMat2D);
//对预期线的起始点做放射变换
HOperatorSet.AffineTransPixel(_homMat2D, (HTuple)expectLineStartRow, (HTuple)expectLineStartCol, out newExpectLineStartRow, out newExpectLineStartCol);
HOperatorSet.AffineTransPixel(_homMat2D, (HTuple)expectLineEndRow, (HTuple)expectLineEndCol, out newExpectLineEndRow, out newExpectLineEndCol);
}
else
{
newExpectLineStartRow = expectLineStartRow;
newExpectLineStartCol = expectLineStartCol;
newExpectLineEndRow = expectLineEndRow;
newExpectLineEndCol = expectLineEndCol;
}
HTuple handleID;
HOperatorSet.CreateMetrologyModel(out handleID);
HTuple width, height;
HOperatorSet.GetImageSize(inputImage, out width, out height);
HOperatorSet.SetMetrologyModelImageSize(handleID, width[0], height[0]);
HTuple index;
HOperatorSet.AddMetrologyObjectLineMeasure(handleID, newExpectLineStartRow, newExpectLineStartCol, newExpectLineEndRow, newExpectLineEndCol, new HTuple(50), new HTuple(20), new HTuple(1), new HTuple(30), new HTuple(), new HTuple(), out index);
//参数在这里设置
HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_transition"), new HTuple(polarity));
HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("num_measures"), new HTuple(cliperNum));
HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_length1"), new HTuple(length));
HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_length2"), new HTuple(weidth));
HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_threshold"), new HTuple(threshold));
HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_select"), new HTuple(edgeSelect));
HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_sigma"), new HTuple(sigma));
HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("min_score"), new HTuple(minScore));
HOperatorSet.ApplyMetrologyModel(inputImage, handleID);
//显示所有卡尺
HTuple pointRow, pointCol;
HOperatorSet.GetMetrologyObjectMeasures(out contoursDisp, handleID, new HTuple("all"), new HTuple("all"), out pointRow, out pointCol);
//显示指示找线方向的箭头
#region 测试箭头
HTuple arrowRow = null, arrowColumn = null;
HOperatorSet.GenRegionLine(out drawLine, newExpectLineStartRow, newExpectLineStartCol, newExpectLineEndRow, newExpectLineEndCol);
HOperatorSet.ReduceDomain(inputImage, drawLine, out imageReducedLine);
HOperatorSet.GetRegionPoints(imageReducedLine, out arrowRow, out arrowColumn);
if (arrowRow.Length < 200)
{
CommonMethods.CommonMethods.gen_arrow_contour_xld(out arrow, arrowRow[0], arrowColumn[0], arrowRow[arrowRow.Length - 1], arrowColumn[arrowRow.Length - 1], 20, 20);
}
else
{
CommonMethods.CommonMethods.gen_arrow_contour_xld(out arrow, arrowRow[0], arrowColumn[0], arrowRow[200], arrowColumn[200], 20, 20);
}
HOperatorSet.VectorAngleToRigid(newExpectLineStartRow, newExpectLineStartCol, 0, (newExpectLineStartRow + newExpectLineEndRow) / 2, (newExpectLineStartCol + newExpectLineEndCol) / 2, new HTuple(-90).TupleRad(), out homMat2DArrow);
HOperatorSet.AffineTransContourXld(arrow, out arrowDisp, homMat2DArrow);
#endregion
//把点显示出来
HOperatorSet.GenCrossContourXld(out crossDisp, pointRow, pointCol, new HTuple(12), new HTuple(0));
//得到所找到的线
HTuple parameter;
HOperatorSet.GetMetrologyObjectResult(handleID, new HTuple("all"), new HTuple("all"), new HTuple("result_type"), new HTuple("all_param"), out parameter);
HOperatorSet.GetMetrologyObjectResultContour(out LineDisp, handleID, new HTuple("all"), new HTuple("all"), new HTuple(1.5));
if (parameter.Length >= 4)
{
ResultLineStartRow = parameter[0];
ResultLineStartCol = parameter[1];
ResultLineEndRow = parameter[2];
ResultLineEndCol = parameter[3];
Point start = new Point()
{
Row = ResultLineStartRow, Col = ResultLineStartCol
};
Point end = new Point()
{
Row = ResultLineEndRow, Col = ResultLineEndCol
};
resultLine = new Line()
{
StartPoint = start, EndPoint = end
};
}
HOperatorSet.AngleLx(ResultLineStartRow, ResultLineStartCol, ResultLineEndRow, ResultLineEndCol, out _angle);
if (softwareRunState == SoftwareRunState.Debug)
{
DispMainWindow(FormFindLine.Instance.myHwindow);
FormFindLine.Instance.tbx_resultStartRow.Text = ResultLineStartRow.ToString();
FormFindLine.Instance.tbx_resultStartCol.Text = ResultLineEndCol.ToString();
FormFindLine.Instance.tbx_resultEndRow.Text = ResultLineEndRow.ToString();
FormFindLine.Instance.tbx_resultEndCol.Text = ResultLineEndCol.ToString();
}
HOperatorSet.ClearMetrologyModel(handleID);
// 参数传递
ParamsTrans();
sw.Stop();
runTime = $"运行时间： {sw.ElapsedMilliseconds} ms";
FormFindLine.Instance.SetToolStatus("工具运行成功！", ToolRunStatu.Succeed);
}
catch (Exception ex)
{
FormFindLine.Instance.SetToolStatus($"工具运行异常，异常原因： {ex}", ToolRunStatu.Tool_Run_Error);
}
finally
{
//homMat2DArrow.Dispose();
//arrow.Dispose();
//arrowTrans.Dispose();
}
}
public void Run()
{
if (inputImage == null)
{
FormFindLine.Instance.TextBoxMessageDisp("图像为空", System.Drawing.Color.Red);
toolRunStatu = ToolRunStatu.Not_Input_Image;
return;
}
try
{
UpdateImage();
if (inputPose != null)
{
HTuple Row = inputPose.X - templatePose.X;
HTuple Col = inputPose.Y - templatePose.Y;
HTuple angle = inputPose.U - templatePose.U;
HTuple _homMat2D;
HOperatorSet.HomMat2dIdentity(out _homMat2D);
HOperatorSet.HomMat2dRotate(_homMat2D, (HTuple)(angle), (HTuple)templatePose.X, (HTuple)templatePose.Y, out _homMat2D);
HOperatorSet.HomMat2dTranslate(_homMat2D, (HTuple)(Row), (HTuple)(Col), out _homMat2D);
//对预期线的起始点做放射变换
HOperatorSet.AffineTransPixel(_homMat2D, (HTuple)expectLineStartRow, (HTuple)expectLineStartCol, out newExpectLineStartRow, out newExpectLineStartCol);
HOperatorSet.AffineTransPixel(_homMat2D, (HTuple)expectLineEndRow, (HTuple)expectLineEndCol, out newExpectLineEndRow, out newExpectLineEndCol);
}
else
{
newExpectLineStartRow = expectLineStartRow;
newExpectLineStartCol = expectLineStartCol;
newExpectLineEndRow = expectLineEndRow;
newExpectLineEndCol = expectLineEndCol;
}
HTuple handleID;
HOperatorSet.CreateMetrologyModel(out handleID);
HTuple width, height;
HOperatorSet.GetImageSize(inputImage, out width, out height);
HOperatorSet.SetMetrologyModelImageSize(handleID, width[0], height[0]);
HTuple index;
HOperatorSet.AddMetrologyObjectLineMeasure(handleID, newExpectLineStartRow, newExpectLineStartCol, newExpectLineEndRow, newExpectLineEndCol, new HTuple(50), new HTuple(20), new HTuple(1), new HTuple(30), new HTuple(), new HTuple(), out index);
//参数在这里设置
HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_transition"), new HTuple(polarity));
HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("num_measures"), new HTuple(cliperNum));
HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_length1"), new HTuple(length));
HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_length2"), new HTuple(weidth));
HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_threshold"), new HTuple(threshold));
HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_select"), new HTuple(edgeSelect));
HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_sigma"), new HTuple(sigma));
HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("min_score"), new HTuple(minScore));
HOperatorSet.ApplyMetrologyModel(inputImage, handleID);
//显示所有卡尺
HTuple pointRow, pointCol;
HOperatorSet.GetMetrologyObjectMeasures(out contours, handleID, new HTuple("all"), new HTuple("all"), out pointRow, out pointCol);
HOperatorSet.SetColor(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, new HTuple("blue"));
HOperatorSet.DispObj(contours, FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow);
FormFindLine.Instance.myHwindow.DispObj(contours, "blue");
//显示指示找线方向的箭头
HTuple arrowAngle;
HOperatorSet.AngleLx(newExpectLineStartRow, newExpectLineStartCol, newExpectLineEndRow, newExpectLineEndCol, out arrowAngle);
#region 测试箭头
#endregion
arrowAngle = arrowAngle + Math.PI / 2;
arrowAngle = arrowAngle.TupleDeg();
HTuple row = (newExpectLineStartRow + newExpectLineEndRow) / 2;
HTuple column = (newExpectLineStartCol + newExpectLineEndCol) / 2;
double drow, dcolumn;
double arrowLength = length + 100;
if (0 <= arrowAngle && arrowAngle <= 90)
{
drow = Math.Abs(arrowLength * Math.Sin(((HTuple)arrowAngle).TupleRad()));
dcolumn = Math.Abs(arrowLength * Math.Cos(((HTuple)arrowAngle).TupleRad()));
HOperatorSet.DispArrow(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, row, column, row - drow, column + dcolumn, 5.0);
}
else if (arrowAngle > 90 && arrowAngle <= 180)
{
drow = arrowLength * Math.Sin(((HTuple)(180 - arrowAngle)).TupleRad());
dcolumn = arrowLength * Math.Cos(((HTuple)(180 - arrowAngle)).TupleRad());
HOperatorSet.DispArrow(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, row, column, row - drow, column - dcolumn, 5.0);
}
else if (arrowAngle < 0 && arrowAngle >= -90)
{
drow = arrowLength * Math.Sin(((HTuple)arrowAngle * -1).TupleRad());
dcolumn = arrowLength * Math.Cos(((HTuple)arrowAngle * -1).TupleRad());
HOperatorSet.DispArrow(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, row, column, row + drow, column + dcolumn, 5.0);
}
else if (arrowAngle < -90 && arrowAngle >= -180)
{
drow = Math.Abs(arrowLength * Math.Sin(((HTuple)arrowAngle + 180).TupleRad()));
dcolumn = Math.Abs(arrowLength * Math.Cos(((HTuple)arrowAngle + 180).TupleRad()));
HOperatorSet.DispArrow(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, row, column, row + drow, column - dcolumn, 5.0);
}
//把点显示出来
HObject cross;
HOperatorSet.GenCrossContourXld(out cross, pointRow, pointCol, new HTuple(12), new HTuple(0));
HOperatorSet.SetColor(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, new HTuple("orange"));
HOperatorSet.DispObj(cross, FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow);
FormFindLine.Instance.myHwindow.DispObj(cross, "orange");
//得到所找到的线
HTuple parameter;
HObject line;
HOperatorSet.GetMetrologyObjectResult(handleID, new HTuple("all"), new HTuple("all"), new HTuple("result_type"), new HTuple("all_param"), out parameter);
HOperatorSet.GetMetrologyObjectResultContour(out line, handleID, new HTuple("all"), new HTuple("all"), new HTuple(1.5));
if (parameter.Length >= 4)
{
ResultLineStartRow = parameter[0];
ResultLineStartCol = parameter[1];
ResultLineEndRow = parameter[2];
ResultLineEndCol = parameter[3];
Point start = new Point()
{
Row = ResultLineStartRow, Col = ResultLineStartCol
};
Point end = new Point()
{
Row = ResultLineEndRow, Col = ResultLineEndCol
};
resultLine = new Line()
{
StartPoint = start, EndPoint = end
};
//显示找到的线
HOperatorSet.SetColor(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, new HTuple("green"));
// HOperatorSet.DispObj(line, GetWindowHandle(jobName));
FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow.SetLineWidth(2);
FormFindLine.Instance.myHwindow.DispObj(line, "green");
}
HOperatorSet.AngleLx(ResultLineStartRow, ResultLineStartCol, ResultLineEndRow, ResultLineEndCol, out _angle);
HOperatorSet.ClearMetrologyModel(handleID);
FormFindLine.Instance.tbx_resultStartRow.Text = ResultLineStartRow.ToString();
FormFindLine.Instance.tbx_resultStartCol.Text = ResultLineEndCol.ToString();
FormFindLine.Instance.tbx_resultEndRow.Text = ResultLineEndRow.ToString();
FormFindLine.Instance.tbx_resultEndCol.Text = ResultLineEndCol.ToString();
FormFindLine.Instance.TextBoxMessageDisp("运行成功", System.Drawing.Color.Green);
toolRunStatu = ToolRunStatu.Succeed;
}
catch (Exception ex)
{
FormFindLine.Instance.TextBoxMessageDisp("工具运行异常" + ex.Message, System.Drawing.Color.Red);
}
}
/// <summary>
/// 执行
/// </summary>
/// <param name="image">图像</param>
/// <param name="outputs">输出结果</param>
/// <returns>执行结果</returns>
public void Execute(object image, out ItemCollection outputs)
{
HObject hImage = image as HObject;
outputs = new ItemCollection();
stopwatch.Restart();
// Local iconic variables
HObject ho_GrayImage, ho_ImageMean, ho_RegionDynThresh;
HObject ho_RegionFillUp, ho_ConnectedRegions, ho_SelectedRegions1;
HObject ho_SelectedRegions2, ho_Regions1 = null, ho_Regions2 = null;
HObject ho_Circle1 = null, ho_Circle2 = null, ho_Cross1 = null;
HObject ho_Arrow = null;
// Local control variables
HTuple hv_Number1 = null, hv_Number2 = null, hv_Row1 = new HTuple();
HTuple hv_Column1 = new HTuple(), hv_Radius1 = new HTuple();
HTuple hv_Row2 = new HTuple(), hv_Column2 = new HTuple();
HTuple hv_Radius2 = new HTuple(), hv_RowArray1 = new HTuple();
HTuple hv_ColumnArray1 = new HTuple(), hv_RowArray2 = new HTuple();
HTuple hv_ColumnArray2 = new HTuple(), hv_ResultRow1 = new HTuple();
HTuple hv_ResultColumn1 = new HTuple(), hv_ArcType1 = new HTuple();
HTuple hv_ResultRow2 = new HTuple(), hv_ResultColumn2 = new HTuple();
HTuple hv_ArcType2 = new HTuple(), hv_RowCenter1 = new HTuple();
HTuple hv_ColCenter1 = new HTuple(), hv_StartPhi1 = new HTuple();
HTuple hv_EndPhi1 = new HTuple(), hv_PointOrder1 = new HTuple();
HTuple hv_ArcAngle1 = new HTuple(), hv_RowCenter2 = new HTuple();
HTuple hv_ColCenter2 = new HTuple(), hv_StartPhi2 = new HTuple();
HTuple hv_EndPhi2 = new HTuple(), hv_PointOrder2 = new HTuple();
HTuple hv_ArcAngle2 = new HTuple(), hv_Angle = new HTuple();
HTuple hv_HomMat2D = new HTuple(), hv_Qy = new HTuple();
HTuple hv_Qx = new HTuple();
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_GrayImage);
HOperatorSet.GenEmptyObj(out ho_ImageMean);
HOperatorSet.GenEmptyObj(out ho_RegionDynThresh);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions1);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions2);
HOperatorSet.GenEmptyObj(out ho_Regions1);
HOperatorSet.GenEmptyObj(out ho_Regions2);
HOperatorSet.GenEmptyObj(out ho_Circle1);
HOperatorSet.GenEmptyObj(out ho_Circle2);
HOperatorSet.GenEmptyObj(out ho_Cross1);
HOperatorSet.GenEmptyObj(out ho_Arrow);
try
{
HTuple width, height;
HOperatorSet.GetImageSize(hImage, out width, out height);
//若未初始化,则进行初始化
if (!isInit)
{
isInit = true;
}
if (runningWindow == null)
{
try
{
runningWindow = (RunningWindow as HSmartWindowControlWPF).HalconWindow;
}
catch (Exception)
{
}
}
if (configWindow == null)
{
try
{
configWindow = (ConfigWindow as HSmartWindowControlWPF).HalconWindow;
}
catch (Exception)
{
}
}
if (runningWindow != null)
{
HOperatorSet.ClearWindow(runningWindow);
HOperatorSet.DispObj(hImage, runningWindow);
UpdatePart(runningWindow);
}
if (configWindow != null)
{
HOperatorSet.ClearWindow(configWindow);
HOperatorSet.DispObj(hImage, configWindow);
UpdatePart(runningWindow);
}
//执行主任务
//转为灰度图
ho_GrayImage.Dispose();
HOperatorSet.Rgb1ToGray(hImage, out ho_GrayImage);
//动态阈值分割
ho_ImageMean.Dispose();
HOperatorSet.MeanImage(ho_GrayImage, out ho_ImageMean, new HTuple(Inputs["MeanImageMaskHeight"].Value), new HTuple(Inputs["MeanImageMaskWidth"].Value));
ho_RegionDynThresh.Dispose();
HOperatorSet.DynThreshold(ho_GrayImage, ho_ImageMean, out ho_RegionDynThresh,
new HTuple(Inputs["DynThresholdOffset"].Value), "dark");
//填充并获取圆
ho_RegionFillUp.Dispose();
HOperatorSet.FillUp(ho_RegionDynThresh, out ho_RegionFillUp);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_RegionFillUp, out ho_ConnectedRegions);
ho_SelectedRegions1.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions1, (new HTuple("circularity")).TupleConcat(
"area"), "and", (new HTuple(Inputs["Blob1MincirCularity"].Value)).TupleConcat(new HTuple(Inputs["Blob1MinArea"].Value)), (new HTuple(1.2)).TupleConcat(
new HTuple(Inputs["Blob1MaxArea"].Value)));
ho_SelectedRegions2.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions2, (new HTuple("circularity")).TupleConcat(
"area"), "and", (new HTuple(Inputs["Blob2MincirCularity"].Value)).TupleConcat(new HTuple(Inputs["Blob2MinArea"].Value)), (new HTuple(1.2)).TupleConcat(
new HTuple(Inputs["Blob2MaxArea"].Value)));
HOperatorSet.CountObj(ho_SelectedRegions1, out hv_Number1);
HOperatorSet.CountObj(ho_SelectedRegions2, out hv_Number2);
if ((hv_Number1.I == 1) && (hv_Number2.I == 1))
{
//产生最小外接圆
HOperatorSet.SmallestCircle(ho_SelectedRegions1, out hv_Row1, out hv_Column1,
out hv_Radius1);
HOperatorSet.SmallestCircle(ho_SelectedRegions2, out hv_Row2, out hv_Column2,
out hv_Radius2);
hv_RowArray1 = new HTuple(new double[] { hv_Row1 + hv_Radius1, hv_Row1, hv_Row1 - hv_Radius1, hv_Row1, hv_Row1 + hv_Radius1 });
hv_ColumnArray1 = new HTuple(new double[] { hv_Column1, hv_Column1 + hv_Radius1, hv_Column1, hv_Column1 - hv_Radius1, hv_Column1 });
hv_RowArray2 = new HTuple(new double[] { hv_Row2 + hv_Radius2, hv_Row2, hv_Row2 - hv_Radius2, hv_Row2, hv_Row2 + hv_Radius2 });
hv_ColumnArray2 = new HTuple(new double[] { hv_Column2, hv_Column2 + hv_Radius2, hv_Column2, hv_Column2 - hv_Radius2, hv_Column2 });
//对最小外接圆的位置进行圆拟合
ho_Regions1.Dispose();
spoke(ho_GrayImage, out ho_Regions1, (new HTuple(Inputs["Elements"].Value)), (new HTuple(Inputs["DetectHeight"].Value)), (new HTuple(Inputs["DetectWidth"].Value)), (new HTuple(Inputs["Sigma"].Value)), (new HTuple(Inputs["Threshold"].Value)), (new HTuple(Inputs["Transition"].Value)), (new HTuple(Inputs["Select"].Value)),
hv_RowArray1, hv_ColumnArray1, "outer", out hv_ResultRow1, out hv_ResultColumn1,
out hv_ArcType1);
ho_Regions2.Dispose();
spoke(ho_GrayImage, out ho_Regions2, (new HTuple(Inputs["Elements"].Value)), (new HTuple(Inputs["DetectHeight"].Value)), (new HTuple(Inputs["DetectWidth"].Value)), (new HTuple(Inputs["Sigma"].Value)), (new HTuple(Inputs["Threshold"].Value)), (new HTuple(Inputs["Transition"].Value)), (new HTuple(Inputs["Select"].Value)),
hv_RowArray2, hv_ColumnArray2, "outer", out hv_ResultRow2, out hv_ResultColumn2,
out hv_ArcType2);
ho_Circle1.Dispose();
pts_to_best_circle(out ho_Circle1, hv_ResultRow1, hv_ResultColumn1, (new HTuple(Inputs["ActiveNum"].Value)), "circle",
out hv_RowCenter1, out hv_ColCenter1, out hv_Radius1, out hv_StartPhi1,
out hv_EndPhi1, out hv_PointOrder1, out hv_ArcAngle1);
ho_Circle2.Dispose();
pts_to_best_circle(out ho_Circle2, hv_ResultRow2, hv_ResultColumn2, (new HTuple(Inputs["ActiveNum"].Value)), "circle",
out hv_RowCenter2, out hv_ColCenter2, out hv_Radius2, out hv_StartPhi2,
out hv_EndPhi2, out hv_PointOrder2, out hv_ArcAngle2);
//计算角度
HOperatorSet.AngleLx(hv_RowCenter1, hv_ColCenter1, hv_RowCenter2, hv_ColCenter2,
out hv_Angle);
ho_Cross1.Dispose();
HOperatorSet.GenCrossContourXld(out ho_Cross1, hv_RowCenter1, hv_ColCenter1,
32, hv_Angle + ((new HTuple(45)).TupleRad()));
ho_Arrow.Dispose();
gen_arrow_contour_xld(out ho_Arrow, hv_RowCenter1, hv_ColCenter1, hv_RowCenter2,
hv_ColCenter2, 25, 25);
//计算仿射变换矩阵
HOperatorSet.VectorAngleToRigid((new HTuple(Inputs["BaseY"].Value)), (new HTuple(Inputs["BaseX"].Value)), (new HTuple(Inputs["BaseAngle"].Value)), hv_RowCenter1,
hv_ColCenter1, hv_Angle, out hv_HomMat2D);
//计算仿射变换结果
HOperatorSet.AffineTransPoint2d(hv_HomMat2D, (new HTuple(Inputs["LocationY1"].Value)), (new HTuple(Inputs["LocationX1"].Value)),
out hv_Qy, out hv_Qx);
Outputs["LocationX1"].Value = hv_Qx.D;
Outputs["LocationY1"].Value = hv_Qy.D;
HOperatorSet.AffineTransPoint2d(hv_HomMat2D, (new HTuple(Inputs["LocationY2"].Value)), (new HTuple(Inputs["LocationX2"].Value)),
out hv_Qy, out hv_Qx);
Outputs["LocationX2"].Value = hv_Qx.D;
Outputs["LocationY2"].Value = hv_Qy.D;
HOperatorSet.AffineTransPoint2d(hv_HomMat2D, (new HTuple(Inputs["LocationY3"].Value)), (new HTuple(Inputs["LocationX3"].Value)),
out hv_Qy, out hv_Qx);
Outputs["LocationX3"].Value = hv_Qx.D;
Outputs["LocationY3"].Value = hv_Qy.D;
//显示结果
//HOperatorSet.DispObj(ho_Image, hv_ExpDefaultWinHandle);
//HOperatorSet.DispObj(ho_SelectedRegions1, hv_ExpDefaultWinHandle);
//HOperatorSet.DispObj(ho_SelectedRegions2, hv_ExpDefaultWinHandle);
//HOperatorSet.DispObj(ho_Arrow, hv_ExpDefaultWinHandle);
//HOperatorSet.DispObj(ho_Cross1, hv_ExpDefaultWinHandle);
}
//显示结果
if (runningWindow != null)
{
UpdatePart(runningWindow);
}
if (configWindow != null)
{
UpdatePart(runningWindow);
}
stopwatch.Stop();
RunStatus = new RunStatus(stopwatch.Elapsed.TotalMilliseconds);
outputs = new ItemCollection(Outputs);
}
catch (Exception ex)
{
stopwatch.Stop();
RunStatus = new RunStatus(stopwatch.Elapsed.TotalMilliseconds, EResult.Error, ex.Message, ex);
throw;
}
finally
{
hImage.Dispose();
ho_GrayImage.Dispose();
ho_ImageMean.Dispose();
ho_RegionDynThresh.Dispose();
ho_RegionFillUp.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions1.Dispose();
ho_SelectedRegions2.Dispose();
ho_Regions1.Dispose();
ho_Regions2.Dispose();
ho_Circle1.Dispose();
ho_Circle2.Dispose();
ho_Cross1.Dispose();
ho_Arrow.Dispose();
}
}
static void GetAwgOriginPosition(HObject _image, out double awgX, out double awgY, out double awgAngle, out Bitmap resultImage)
{
try
{
HOperatorSet.Threshold(_image, out HObject region1, 120, 255);
HOperatorSet.ErosionCircle(region1, out HObject region2, 5.5);
region1.Dispose();
HOperatorSet.DilationCircle(region2, out HObject region3, 5.5);
region2.Dispose();
HOperatorSet.Connection(region3, out HObject connectedregins1);
region3.Dispose();
HOperatorSet.SelectShape(connectedregins1, out HObject selectedregions, "area", "and", 100000, 10000000);
connectedregins1.Dispose();
HOperatorSet.Union1(selectedregions, out HObject regionunion);
selectedregions.Dispose();
HOperatorSet.ShapeTrans(regionunion, out HObject regiontrans, "rectangle2");
regionunion.Dispose();
HOperatorSet.RegionToBin(regiontrans, out HObject _transimage, 255, 0, 3840, 2748);
regiontrans.Dispose();
HOperatorSet.PointsFoerstner(_transimage, 1, 2, 3, 200, 0.3, "gauss", "false", out HTuple rowJunctions, out HTuple columnJunctions, out HTuple coRRJunctions,
out HTuple coRCJunctions, out HTuple coCCJunctions, out HTuple rowArea, out HTuple columnArea, out HTuple coRRArea, out HTuple coRCArea, out HTuple coCCArea);
if (rowJunctions.Length < 2)
{
throw new Exception("awgCheck error in PointsFoerstner");
}
HTuple phi;
HTuple _angle;
HTuple _row, _column;
HOperatorSet.TupleRad(-75, out _angle);
int hypotenuselength = 730;
if (columnJunctions[0] < columnJunctions[1])
{
HOperatorSet.AngleLx(rowJunctions[0], columnJunctions[0], rowJunctions[1], columnJunctions[1], out phi);
_angle += phi;
_row = rowJunctions[1] + Math.Cos(_angle) * hypotenuselength;
_column = columnJunctions[1] + Math.Sin(_angle) * hypotenuselength;
}
else
{
HOperatorSet.AngleLx(rowJunctions[1], columnJunctions[1], rowJunctions[0], columnJunctions[0], out phi);
_angle += phi;
_row = rowJunctions[0] + Math.Cos(_angle) * hypotenuselength;
_column = columnJunctions[0] + Math.Sin(_angle) * hypotenuselength;
}
visionFun.scale_image_range(_image, out HObject imageScaled, 180, 230);
HOperatorSet.MeanImage(imageScaled, out HObject imageMean, 5, 5);
visionFun.findline(imageMean, out HObject line, _row, _column, phi, 150, 150, "nearest_neighbor", 2.5, 25, "positive", "last");
HOperatorSet.WriteImage(_image, "bmp", 0, AppDomain.CurrentDomain.BaseDirectory + "awg.bmp");
double rx = (rowJunctions[0] + rowJunctions[1]) / 2;
double ry = (columnJunctions[0] + columnJunctions[1]) / 2;
HOperatorSet.TupleRad(-90, out HTuple _angle90);
visionFun.findline(_image, out HObject line1, rx, ry, phi + _angle90, 300, 500, "nearest_neighbor", 2.5, 50, "positive", "first");
HOperatorSet.RegionToBin(line, out _transimage, 255, 0, 3840, 2748);
HOperatorSet.PointsFoerstner(_transimage, 1, 2, 3, 200, 0.3, "gauss", "false", out HTuple rowJunctions1, out HTuple columnJunctions1, out HTuple coRRJunctions1,
out HTuple coRCJunctions1, out HTuple coCCJunctions1, out HTuple rowArea1, out HTuple columnArea1, out HTuple coRRArea1, out HTuple coRCArea1, out HTuple coCCArea1);
HOperatorSet.RegionToBin(line1, out _transimage, 255, 0, 3840, 2748);
HOperatorSet.PointsFoerstner(_transimage, 1, 2, 3, 200, 0.3, "gauss", "false", out HTuple rowJunctions2, out HTuple columnJunctions2, out HTuple coRRJunctions2,
out HTuple coRCJunctions2, out HTuple coCCJunctions2, out HTuple rowArea2, out HTuple columnArea2, out HTuple coRRArea2, out HTuple coRCArea2, out HTuple coCCArea2);
_transimage.Dispose();
HOperatorSet.IntersectionLines(rowJunctions1[0], columnJunctions1[0], rowJunctions1[1], columnJunctions1[1], rowJunctions2[0], columnJunctions2[0], rowJunctions2[1], columnJunctions2[1], out HTuple finalRow, out HTuple finalColumn, out HTuple isoverlapping);
HOperatorSet.AffineTransPoint2d(calibratedata, finalRow, finalColumn, out HTuple x, out HTuple y);
Console.WriteLine($"awg row value: {finalRow.D}");
Console.WriteLine($"awg column value: {finalColumn.D}");
visionFun.HObject2Bpp8(_image, out Bitmap bitmap);
resultImage = BitMapZd.DrawCross(bitmap, (float)finalColumn.D, (float)finalRow.D, 45, 30, 10, Color.Red);
awgX = x;
awgY = y;
awgAngle = phi;
}
catch (Exception ex)
{
HOperatorSet.WriteImage(_image, "bmp", 0, AppDomain.CurrentDomain.BaseDirectory + "awg.bmp");
throw ex;
}
}
void GetAwgPosition(HObject _image, out HTuple awgX, out HTuple awgY, out HObject cross)
{
try
{
HOperatorSet.Threshold(_image, out HObject region1, 120, 255);
HOperatorSet.ErosionCircle(region1, out HObject region2, 5.5);
region1.Dispose();
HOperatorSet.DilationCircle(region2, out HObject region3, 5.5);
region2.Dispose();
HOperatorSet.Connection(region3, out HObject connectedregins1);
region3.Dispose();
HOperatorSet.SelectShape(connectedregins1, out HObject selectedregions, "area", "and", 100000, 10000000);
connectedregins1.Dispose();
HOperatorSet.Union1(selectedregions, out HObject regionunion);
selectedregions.Dispose();
HOperatorSet.ShapeTrans(regionunion, out HObject regiontrans, "rectangle2");
regionunion.Dispose();
HOperatorSet.RegionToBin(regiontrans, out HObject _transimage, 255, 0, 3840, 2748);
regiontrans.Dispose();
HOperatorSet.PointsFoerstner(_transimage, 1, 2, 3, 200, 0.3, "gauss", "false", out HTuple rowJunctions, out HTuple columnJunctions, out HTuple coRRJunctions,
out HTuple coRCJunctions, out HTuple coCCJunctions, out HTuple rowArea, out HTuple columnArea, out HTuple coRRArea, out HTuple coRCArea, out HTuple coCCArea);
if (rowJunctions.Length < 2)
{
throw new Exception("awgCheck error in PointsFoerstner");
}
HTuple phi;
HTuple _angle;
HTuple _row, _column;
HOperatorSet.TupleRad(-75, out _angle);
int hypotenuselength = 730;
if (columnJunctions[0] < columnJunctions[1])
{
HOperatorSet.AngleLx(rowJunctions[0], columnJunctions[0], rowJunctions[1], columnJunctions[1], out phi);
_angle += phi;
_row = rowJunctions[1] + Math.Cos(_angle) * hypotenuselength;
_column = columnJunctions[1] + Math.Sin(_angle) * hypotenuselength;
}
else
{
HOperatorSet.AngleLx(rowJunctions[1], columnJunctions[1], rowJunctions[0], columnJunctions[0], out phi);
_angle += phi;
_row = rowJunctions[0] + Math.Cos(_angle) * hypotenuselength;
_column = columnJunctions[0] + Math.Sin(_angle) * hypotenuselength;
}
visionFun.scale_image_range(_image, out HObject imageScaled, 180, 230);
HOperatorSet.MeanImage(imageScaled, out HObject imageMean, 5, 5);
visionFun.findline(imageMean, out HObject line, _row, _column, phi, 150, 150, "nearest_neighbor", 2.5, 25, "positive", "last");
HOperatorSet.WriteImage(_image, "bmp", 0, AppDomain.CurrentDomain.BaseDirectory + "awg.bmp");
double rx = (rowJunctions[0] + rowJunctions[1]) / 2;
double ry = (columnJunctions[0] + columnJunctions[1]) / 2;
HOperatorSet.TupleRad(-90, out HTuple _angle90);
visionFun.findline(_image, out HObject line1, rx, ry, phi + _angle90, 300, 500, "nearest_neighbor", 2.5, 50, "positive", "first");
HOperatorSet.RegionToBin(line, out _transimage, 255, 0, 3840, 2748);
HOperatorSet.PointsFoerstner(_transimage, 1, 2, 3, 200, 0.3, "gauss", "false", out HTuple rowJunctions1, out HTuple columnJunctions1, out HTuple coRRJunctions1,
out HTuple coRCJunctions1, out HTuple coCCJunctions1, out HTuple rowArea1, out HTuple columnArea1, out HTuple coRRArea1, out HTuple coRCArea1, out HTuple coCCArea1);
HOperatorSet.RegionToBin(line1, out _transimage, 255, 0, 3840, 2748);
HOperatorSet.PointsFoerstner(_transimage, 1, 2, 3, 200, 0.3, "gauss", "false", out HTuple rowJunctions2, out HTuple columnJunctions2, out HTuple coRRJunctions2,
out HTuple coRCJunctions2, out HTuple coCCJunctions2, out HTuple rowArea2, out HTuple columnArea2, out HTuple coRRArea2, out HTuple coRCArea2, out HTuple coCCArea2);
_transimage.Dispose();
HOperatorSet.IntersectionLines(rowJunctions1[0], columnJunctions1[0], rowJunctions1[1], columnJunctions1[1], rowJunctions2[0], columnJunctions2[0], rowJunctions2[1], columnJunctions2[1], out awgX, out awgY, out HTuple isoverlapping);
HOperatorSet.GenCrossContourXld(out cross, awgX, awgY, 20, phi);
}
catch (Exception ex)
{
HOperatorSet.WriteImage(_image, "bmp", 0, AppDomain.CurrentDomain.BaseDirectory + "awg.bmp");
throw ex;
}
}
// Main procedure
private void action()
{
// Local iconic variables
HObject ho_Image = null, ho_ImageMean = null, ho_Regions1 = null;
HObject ho_RegionFillUp = null, ho_ConnectedRegions1 = null;
HObject ho_SelectedRegions = null, ho_RegionErosion = null;
HObject ho_RegionDifference = null, ho_ImageReduced = null;
HObject ho_Regions = null, ho_ConnectedRegions = null, ho_SelectedRegions1 = null;
HObject ho_RegionDilation = null, ho_RegionFillUp1 = null, ho_SelectedRegions2 = null;
HObject ho_RegionUnion = null, ho_Rectangle = null;
// Local control variables
HTuple hv_Index = null, hv_WindowHandle = new HTuple();
HTuple hv_Area = new HTuple(), hv_Row = new HTuple(), hv_Column = new HTuple();
HTuple hv_Area1 = new HTuple(), hv_Row1 = new HTuple();
HTuple hv_Column1 = new HTuple(), hv_angles = new HTuple();
HTuple hv_rectangles = new HTuple(), hv_index = new HTuple();
HTuple hv_offset = new HTuple(), hv_Angle = new HTuple();
HTuple hv_deltaRow = new HTuple(), hv_deltaColumn = new HTuple();
HTuple hv_rectRow = new HTuple(), hv_rectColumn = new HTuple();
HTuple hv_Indices = new HTuple(), hv_Sum = null;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Image);
HOperatorSet.GenEmptyObj(out ho_ImageMean);
HOperatorSet.GenEmptyObj(out ho_Regions1);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions1);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
HOperatorSet.GenEmptyObj(out ho_RegionErosion);
HOperatorSet.GenEmptyObj(out ho_RegionDifference);
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_Regions);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions1);
HOperatorSet.GenEmptyObj(out ho_RegionDilation);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp1);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions2);
HOperatorSet.GenEmptyObj(out ho_RegionUnion);
HOperatorSet.GenEmptyObj(out ho_Rectangle);
//read_image (PicBlockid18773, 'C:/Users/sunru/Documents/WeChat Files/sunrh109989/FileStorage/File/2019-08/190808 五金件检测(1)/190808 五金件检测/1/2.bmp')
for (hv_Index = 10; (int)hv_Index <= 10; hv_Index = (int)hv_Index + 1)
{
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, ("C:/Users/sunru/Documents/WeChat Files/sunrh109989/FileStorage/File/2019-08/190809/190809/2/" + hv_Index) + ".bmp");
//dev_close_window(...);
dev_open_window_fit_image(ho_Image, 0, 0, -1, -1, out hv_WindowHandle);
ho_ImageMean.Dispose();
HOperatorSet.MeanImage(ho_Image, out ho_ImageMean, 19, 19);
//select region
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "red");
ho_Regions1.Dispose();
HOperatorSet.Threshold(ho_ImageMean, out ho_Regions1, 160, 250);
ho_RegionFillUp.Dispose();
HOperatorSet.FillUp(ho_Regions1, out ho_RegionFillUp);
ho_ConnectedRegions1.Dispose();
HOperatorSet.Connection(ho_RegionFillUp, out ho_ConnectedRegions1);
ho_SelectedRegions.Dispose();
HOperatorSet.SelectShapeStd(ho_ConnectedRegions1, out ho_SelectedRegions, "max_area",
70);
ho_RegionErosion.Dispose();
HOperatorSet.ErosionCircle(ho_SelectedRegions, out ho_RegionErosion, 400);
ho_RegionDifference.Dispose();
HOperatorSet.Difference(ho_SelectedRegions, ho_RegionErosion, out ho_RegionDifference
);
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(ho_ImageMean, ho_RegionDifference, out ho_ImageReduced
);
ho_Regions.Dispose();
HOperatorSet.Threshold(ho_ImageReduced, out ho_Regions, 13, 150);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_Regions, out ho_ConnectedRegions);
ho_SelectedRegions1.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions1, "outer_radius",
"and", 20.18, 122.94);
ho_RegionDilation.Dispose();
HOperatorSet.DilationCircle(ho_SelectedRegions1, out ho_RegionDilation, 20);
ho_RegionFillUp1.Dispose();
HOperatorSet.FillUp(ho_RegionDilation, out ho_RegionFillUp1);
ho_SelectedRegions2.Dispose();
HOperatorSet.SelectShape(ho_RegionFillUp1, out ho_SelectedRegions2, (new HTuple("circularity")).TupleConcat(
"area"), "and", (new HTuple(0.78073)).TupleConcat(10963.3), (new HTuple(1)).TupleConcat(
31697.3));
HOperatorSet.AreaCenter(ho_SelectedRegions2, out hv_Area, out hv_Row, out hv_Column);
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "green");
HOperatorSet.DispCross(hv_ExpDefaultWinHandle, hv_Row, hv_Column, 86, 0);
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "red");
//Find the center of whole region
ho_RegionUnion.Dispose();
HOperatorSet.Union1(ho_SelectedRegions2, out ho_RegionUnion);
HOperatorSet.AreaCenter(ho_RegionUnion, out hv_Area1, out hv_Row1, out hv_Column1);
HOperatorSet.DispCross(hv_ExpDefaultWinHandle, hv_Row1, hv_Column1, 86, 0);
hv_angles = new HTuple();
hv_rectangles = new HTuple();
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "green");
for (hv_index = 0; (int)hv_index <= 5; hv_index = (int)hv_index + 1)
{
//index := 0
hv_offset = 0.7;
HOperatorSet.AngleLx(hv_Row.TupleSelect(hv_index), hv_Column.TupleSelect(
hv_index), hv_Row1, hv_Column1, out hv_Angle);
hv_angles = hv_angles.TupleConcat(hv_Angle);
hv_deltaRow = (hv_Row.TupleSelect(hv_index)) - hv_Row1;
hv_deltaColumn = (hv_Column.TupleSelect(hv_index)) - hv_Column1;
hv_rectRow = (hv_offset * hv_deltaRow) + hv_Row1;
hv_rectColumn = (hv_offset * hv_deltaColumn) + hv_Column1;
HOperatorSet.DispCross(hv_ExpDefaultWinHandle, hv_rectRow, hv_rectColumn,
86, hv_Angle);
//gen measure rectangle
ho_Rectangle.Dispose();
HOperatorSet.GenRectangle2(out ho_Rectangle, hv_rectRow, hv_rectColumn, hv_Angle,
60, 150);
hv_rectangles = ((((((hv_rectangles.TupleConcat(hv_rectRow))).TupleConcat(
hv_rectColumn))).TupleConcat(hv_Angle))).TupleConcat((new HTuple(60)).TupleConcat(
150));
}
//sort
HOperatorSet.TupleSortIndex(hv_angles, out hv_Indices);
HDevelopStop();
}
HOperatorSet.TupleAdd(hv_Indices, 1, out hv_Sum);
ho_Image.Dispose();
ho_ImageMean.Dispose();
ho_Regions1.Dispose();
ho_RegionFillUp.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionErosion.Dispose();
ho_RegionDifference.Dispose();
ho_ImageReduced.Dispose();
ho_Regions.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionDilation.Dispose();
ho_RegionFillUp1.Dispose();
ho_SelectedRegions2.Dispose();
ho_RegionUnion.Dispose();
ho_Rectangle.Dispose();
}
public void findModel(HObject ho_Image, HObject ho_DomainRegion_01, HObject ho_DomainRegion_02,
HObject ho_ModelRegion_01, HObject ho_ModelContours_01, HObject ho_ModelRegion_02, HObject ho_ModelContours_02,
out HObject ho_ContoursAffinTrans_01, out HObject ho_RegionAffinTrans_01,
out HObject ho_ContoursAffinTrans_02, out HObject ho_RegionAffinTrans_02,
HTuple hv_ModelId_01, HTuple hv_ModelId_02,
HTuple hv_CenterRow_01, HTuple hv_CenterColumn_01, HTuple hv_CenterRow_02, HTuple hv_CenterColumn_02, HTuple hv_AngleModel,
out HTuple hv_HomMat2D, out bool hv_Result)
{
// Local iconic variables
HObject ho_RegionMoved_01 = null, ho_RegionMoved_02 = null;
HObject ho_ImageReduce_01 = null, ho_ImageReduce_02 = null;
// Local control variables
HTuple hv_MatchRow_01 = null, hv_MatchColumn_01 = null;
HTuple hv_MatchAngle_01 = null, hv_MatchScore_01 = null;
HTuple hv_MatchRow_02 = null, hv_MatchColumn_02 = null;
HTuple hv_MatchAngle_02 = null, hv_MatchScore_02 = null;
HTuple hv_HomMat2D_01 = new HTuple(), hv_HomMat2D_02 = new HTuple();
HTuple hv_Angle = new HTuple();
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_ImageReduce_01);
HOperatorSet.GenEmptyObj(out ho_ImageReduce_02);
HOperatorSet.GenEmptyObj(out ho_ContoursAffinTrans_01);
HOperatorSet.GenEmptyObj(out ho_RegionAffinTrans_01);
HOperatorSet.GenEmptyObj(out ho_ContoursAffinTrans_02);
HOperatorSet.GenEmptyObj(out ho_RegionAffinTrans_02);
HOperatorSet.GenEmptyObj(out ho_RegionMoved_01);
HOperatorSet.GenEmptyObj(out ho_RegionMoved_02);
hv_HomMat2D = new HTuple();
ho_ImageReduce_01.Dispose();
HOperatorSet.ReduceDomain(ho_Image, ho_DomainRegion_01, out ho_ImageReduce_01);
ho_ImageReduce_02.Dispose();
HOperatorSet.ReduceDomain(ho_Image, ho_DomainRegion_02, out ho_ImageReduce_02);
HOperatorSet.FindShapeModel(ho_ImageReduce_01, hv_ModelId_01, (new HTuple(0)).TupleRad()
, (new HTuple(360)).TupleRad(), 0.5, 1, 0.5, "least_squares", (new HTuple(4)).TupleConcat(
1), 0.65, out hv_MatchRow_01, out hv_MatchColumn_01, out hv_MatchAngle_01,
out hv_MatchScore_01);
HOperatorSet.FindShapeModel(ho_ImageReduce_02, hv_ModelId_02, (new HTuple(0)).TupleRad()
, (new HTuple(360)).TupleRad(), 0.5, 1, 0.5, "least_squares", (new HTuple(4)).TupleConcat(
1), 0.65, out hv_MatchRow_02, out hv_MatchColumn_02, out hv_MatchAngle_02,
out hv_MatchScore_02);
hv_Result = false;
if ((int)((new HTuple((new HTuple(hv_MatchScore_01.TupleLength())).TupleEqual(
1))).TupleAnd(new HTuple((new HTuple(hv_MatchScore_02.TupleLength())).TupleEqual(
1)))) != 0)
{
ho_RegionMoved_01.Dispose();
HOperatorSet.MoveRegion(ho_ModelRegion_01, out ho_RegionMoved_01, -hv_CenterRow_01,
-hv_CenterColumn_01);
ho_RegionMoved_02.Dispose();
HOperatorSet.MoveRegion(ho_ModelRegion_02, out ho_RegionMoved_02, -hv_CenterRow_02,
-hv_CenterColumn_02);
HOperatorSet.VectorAngleToRigid(0, 0, 0, hv_MatchRow_01, hv_MatchColumn_01,
hv_MatchAngle_01, out hv_HomMat2D_01);
ho_ContoursAffinTrans_01.Dispose();
HOperatorSet.AffineTransContourXld(ho_ModelContours_01, out ho_ContoursAffinTrans_01,
hv_HomMat2D_01);
ho_RegionAffinTrans_01.Dispose();
HOperatorSet.AffineTransRegion(ho_RegionMoved_01, out ho_RegionAffinTrans_01,
hv_HomMat2D_01, "nearest_neighbor");
HOperatorSet.VectorAngleToRigid(0, 0, 0, hv_MatchRow_02, hv_MatchColumn_02,
hv_MatchAngle_02, out hv_HomMat2D_02);
ho_ContoursAffinTrans_02.Dispose();
HOperatorSet.AffineTransContourXld(ho_ModelContours_02, out ho_ContoursAffinTrans_02,
hv_HomMat2D_02);
ho_RegionAffinTrans_02.Dispose();
HOperatorSet.AffineTransRegion(ho_RegionMoved_02, out ho_RegionAffinTrans_02,
hv_HomMat2D_02, "nearest_neighbor");
HOperatorSet.AngleLx(hv_MatchRow_01, hv_MatchColumn_01, hv_MatchRow_02, hv_MatchColumn_02,
out hv_Angle);
HOperatorSet.VectorAngleToRigid(0, 0, hv_AngleModel, hv_MatchRow_01, hv_MatchColumn_01,
hv_Angle, out hv_HomMat2D);
//affine_trans_pixel (HomMat2D, Rows, Cols, RowTrans, ColTrans)
//gen_circle_contour_xld (ContCircle1, RowTrans, ColTrans, Circle_Radius, 0, 6.28318, 'positive', 1)
hv_Result = true;
}
ho_RegionMoved_01.Dispose();
ho_RegionMoved_02.Dispose();
return;
}