Exemplo n.º 1
0
        public override bool LoadConfig(string str_parm_all)
        {
            string[] sArray = str_parm_all.Split('_');

            OffsetXY           = Convert.ToInt32(sArray[0]);
            AngleRange         = Convert.ToInt32(sArray[1]);
            EnableRotateCenter = Convert.ToBoolean(sArray[2]);
            CalibDataFileName  = sArray[3];

            XMaxDeviation = Convert.ToDouble(sArray[4]);
            YMaxDeviation = Convert.ToDouble(sArray[5]);

            CenterRow    = Convert.ToDouble(sArray[6]);
            CenterColumn = Convert.ToDouble(sArray[7]);

            DistanceMax = Convert.ToDouble(sArray[8]);

            int count = Convert.ToInt32(sArray[9]) * 4 + 9;

            for (int i = 10; i <= count;)
            {
                in_pixel_column.Append(Convert.ToDouble(sArray[i++]));
                in_pixel_row.Append(Convert.ToDouble(sArray[i++]));
                in_world_x.Append(Convert.ToDouble(sArray[i++]));
                in_world_y.Append(Convert.ToDouble(sArray[i++]));
            }

            return(true);
        }
Exemplo n.º 2
0
        /// <summary>
        /// 根据错误码优先级对错误进行输出,当错误优先级设置为一样时可以输出多个错误码
        /// </summary>
        /// <param name="SToM"></param>单个芯片 多个不重复的错误码
        /// <param name="DefectPriority"></param>芯片错误码优先级
        /// <param name="SToS"></param> 单个芯片根据优先级输出错误码
        public static void TranDefect(int[] SToM, Dictionary <int, int[]> DefectPriority, out HTuple SToS)
        {
            List <int []> tempPriority = new List <int []>();
            List <int>    tempIndex    = new List <int>();

            SToS = new HTuple();
            for (int i = 0; i < SToM.Length; i++)
            {
                if (DefectPriority.ContainsKey(SToM[i]))
                {
                    tempPriority.Add(DefectPriority[SToM[i]]);
                    tempIndex.Add(DefectPriority[SToM[i]][0]);
                }
                else
                {
                    SToS = -1;
                    return;
                }
            }
            //
            for (int ind = 0; ind < tempIndex.Count; ind++)
            {
                if (tempPriority[ind][0] == tempIndex.Min())
                {
                    SToS.Append(tempPriority[ind][1]);
                }
            }
        }
Exemplo n.º 3
0
        /// <summary>
        /// 拷贝整个model文件夹信息
        /// </summary>
        /// <param name="oriModel"></param>
        /// <returns></returns>
        public bool CopyModel(Model oriModel)
        {
            try
            {
                for (int i = 0; i < oriModel.modelID.Length; i++)
                {
                    modelID.Append(Vision.CopyModel(oriModel.modelID[i], oriModel.modelType));
                }
                modelType   = oriModel.modelType;
                defRows     = oriModel.defRows;
                defCols     = oriModel.defCols;
                scoreThresh = oriModel.scoreThresh;
                angleStart  = oriModel.angleStart;
                angleExtent = oriModel.angleExtent;
                if (oriModel.showContour.IsInitialized())
                {
                    showContour = oriModel.showContour.CopyObj(1, -1);
                }
                if (oriModel.showImage.IsInitialized())
                {
                    showImage = oriModel.showImage.CopyObj(1, -1);
                }
                if (oriModel.matchRegion.IsInitialized())
                {
                    matchRegion = oriModel.matchRegion.CopyObj(1, -1);
                }

                return(true);
            }
            catch (Exception)
            {
                this.Dispose();
                return(false);
            }
        }
Exemplo n.º 4
0
        /**获取变换矩阵集合,不包含最初的初始变换矩阵
         * **/
        public HTuple GetTransformMatrix()
        {
            HTuple HomMat3DStart;

            /**生成一个标准变换矩阵
             * 1 0 0 0
             * 0 1 0 0
             * 0 0 1 0
             * 0 0 0 1
             * **/
            HOperatorSet.HomMat3dIdentity(out HomMat3DStart);

            HTuple transformMat = new HTuple();
            //pose转Mat的临时存储
            HTuple tempPoseMat;

            for (int i = 0; i < pairRegesters.Count; i++)
            {
                //Regester得到的pose转换成矩阵,既三维的变换矩阵
                HOperatorSet.PoseToHomMat3d(pairRegesters[i].pose, out tempPoseMat);
                //当前矩阵与对应的三维变换矩阵,计算出变换到标准点云所需要的变换矩阵
                HOperatorSet.HomMat3dCompose(HomMat3DStart, tempPoseMat, out HomMat3DStart);
                transformMat.Append(HomMat3DStart);
            }
            return(transformMat);
        }
Exemplo n.º 5
0
 private void GetRegion(object sender, HMouseEventArgs e)
 {
     if (e.Button == MouseButtons.Left)
     {
         SelectRegionRows.Append(e.Y);
         SelectRegionCols.Append(e.X);
     }
 }
Exemplo n.º 6
0
 // Short Description: Get all image files under the given path
 private static void ListImageFiles(ref HTuple hv_ImageFiles, string imgSaveFolder)
 {
     string[] imageNames = Directory.GetFiles(imgSaveFolder, "*.bmp");
     for (int i = 0; i < imageNames.Length; i++)
     {
         hv_ImageFiles.Append(imageNames[i]);
     }
 }
Exemplo n.º 7
0
        /**获取所有点云的句柄集合
         * **/
        public HTuple GetModels()
        {
            HTuple modelHandle = new HTuple();

            for (int i = 0; i < registePointsList.Count; i++)
            {
                modelHandle.Append(registePointsList[i].Pointclouds);
            }
            return(modelHandle);
        }
Exemplo n.º 8
0
        /**
         * Display all available interfaces that have at least one device available.
         *
         * @return List of the detected interfaces.
         */
        static HTuple showAvailableInterfaces()
        {
            HTuple deviceInfo, deviceValue, interfacesAll, temp;
            HTuple interfaces = new HTuple();

            Console.WriteLine(System.Environment.NewLine +
                              "Detect and show all available interfaces..." +
                              System.Environment.NewLine);
            interfacesAll = HInfo.GetParamInfo("info_framegrabber", "Name", "values");

            if (interfacesAll.Length > 0)
            {
                Console.WriteLine("Available interfaces:");
            }
            else
            {
                Console.WriteLine("Found no interfaces.");
                return(interfaces);
            }

            ErrorModes errorMode = GetErrorMode();

            // Disable error dialog boxes on interface detection.
            SetErrorMode(ErrorModes.SEM_FAILCRITICALERRORS |
                         ErrorModes.SEM_NOGPFAULTERRORBOX |
                         ErrorModes.SEM_NOOPENFILEERRORBOX);

            for (int i = 0; i < interfacesAll.Length; i++)
            {
                try
                {
                    temp       = interfacesAll.TupleSelect(i);
                    deviceInfo = HInfo.InfoFramegrabber(temp.S.ToString(), "device",
                                                        out deviceValue);
                }
                catch (HalconException)
                {
                    // Interface not available.
                    continue;
                }

                if (deviceValue.Length > 0)
                {
                    interfaces.Append(interfacesAll.TupleSelect(i));
                    Console.WriteLine(interfaces.Length + ")" +
                                      interfacesAll.TupleSelect(i).S.ToString());
                }
            }

            // Restore previous error mode.
            SetErrorMode(errorMode);

            return(interfaces);
        }
Exemplo n.º 9
0
 /// <summary>
 /// 获取DGV某个行列范围内的数据,赋值给tuple
 /// </summary>
 /// <param name="dgv"></param>
 /// <param name="rowInd">起始行与终止行数组</param>
 /// <param name="colInd">起始列与终止列数组</param>
 /// <param name="tuple"></param>
 private void GetDGVValue(DataGridView dgv, int[] rowInd, int[] colInd, ref HTuple tuple)
 {
     tuple = new HTuple();
     for (int i = rowInd[0]; i < rowInd[1] - rowInd[0] + 1; i++)
     {
         for (int j = colInd[0]; j < colInd[1] - colInd[0] + 1; j++)
         {
             tuple.Append(Convert.ToDouble(dgv.Rows[i].Cells[j].Value));
         }
     }
 }
Exemplo n.º 10
0
        /// <summary>
        /// 加载标定节点数据到实例
        /// </summary>
        /// <param name="unit"></param>
        private void AppendCalibData(XmlNode unit)
        {
            Type type = GetType();

            FieldInfo[] fields = type.GetFields();

            foreach (var item in fields)
            {
                string  xpath = "/Calibration/unit[@name=\"" + CalibName + "\"]/field[@name=\"" + item.Name + "\"]";
                XmlNode node  = unit.SelectSingleNode(xpath);

                if (node == null)
                {
                    continue;
                }

                object value    = null;
                string strValue = ((XmlElement)node).GetAttribute("value");

                // 类型转换
                TypeConverter converter = TypeDescriptor.GetConverter(item.FieldType);
                if (converter.CanConvertFrom(strValue.GetType()))
                {
                    value = converter.ConvertFrom(strValue);
                }
                else
                {
                    converter = TypeDescriptor.GetConverter(strValue);
                    if (converter.CanConvertTo(item.FieldType))
                    {
                        value = converter.ConvertTo(item, item.FieldType);
                    }
                }

                if (value != null)
                {
                    item.SetValue(this, value);
                }
                else
                {
                    // 解析无法进行类型转换的类型
                    if (((XmlElement)node).GetAttribute("name") == nameof(HomMat2D))
                    {
                        HomMat2D = new HTuple();
                        string[] array = strValue.Replace("[", "").Replace("]", "").Split(',');
                        foreach (var i in array)
                        {
                            HomMat2D.Append(Convert.ToDouble(i.Trim()));
                        }
                    }
                }
            }
        }
Exemplo n.º 11
0
        /**当前Pose集合-》变换矩阵集合
         * **/
        private HTuple Pose2Mat()
        {
            HTuple PoseMat = new HTuple();
            HTuple tempPoseMat;

            for (int i = 0; i < pairRegesters.Count; i++)
            {
                HOperatorSet.PoseToHomMat3d(pairRegesters[i].pose, out tempPoseMat);
                PoseMat.Append(tempPoseMat);
            }
            return(PoseMat);
        }
Exemplo n.º 12
0
        /// <summary>Concatenates all tuples stored in the vector</summary>
        public HTuple ConvertVectorToTuple()
        {
            if (this.mDimension <= 0)
            {
                return(this.mTuple);
            }
            HTuple htuple = new HTuple();

            for (int index = 0; index < this.Length; ++index)
            {
                htuple.Append(this[index].ConvertVectorToTuple());
            }
            return(htuple);
        }
Exemplo n.º 13
0
        private async void button1_Click(object sender, EventArgs e)
        {
            HTuple calibratedata = VisionManager.Instance.Calibrate.CalibrateData;

            if (calibratedata != null)
            {
                HOperatorSet.AffineTransPoint2d(calibratedata, 1024, 1536, out HTuple x, out HTuple y);
                // RobotPos robotPos = AbbRobot.GetRobotPos();
                double           robotY, robotZ;
                FormToolPosition form = new FormToolPosition();
                if (form.ShowDialog() == DialogResult.OK)
                {
                    robotY = form.RobotY;
                    robotZ = form.RobotZ;
                }
                else
                {
                    return;
                }
                offx = robotY - x;
                offy = robotZ - y;
                HTuple hTuple = new HTuple();
                hTuple.Append(offx);
                hTuple.Append(offy);
                string _path = AppDomain.CurrentDomain.BaseDirectory + "CalibrateData";
                VisionManager.Instance.Calibrate.ToolOffsetX = offx;
                VisionManager.Instance.Calibrate.ToolOffsetY = offy;
                if (!Directory.Exists(_path))
                {
                    Directory.CreateDirectory(_path);
                }
                HOperatorSet.WriteTuple(hTuple, _path + "\\tooloffset.tup");
                // HOperatorSet.WriteTuple(hTuple, _path + "\\tooloffset.tup");
                // HOperatorSet.WriteTuple(hTuple, _path + "\\tooloffset.tup");
            }
        }
Exemplo n.º 14
0
        private void btn_SavePointData_Click(object sender, EventArgs e)
        {
            HTuple cameraX = new HTuple();
            HTuple cameraY = new HTuple();
            HTuple robotX  = new HTuple();
            HTuple robotY  = new HTuple();

            for (int i = 0; i < 9; i++)
            {
                DataGridViewRow dataGridViewRow = dGV_RobotPos.Rows[i];
                if (dataGridViewRow.Cells[1].Value == null || dataGridViewRow.Cells[2].Value == null)
                {
                    MessageBox.Show($"机器人第{(i + 1).ToString()}行点位信息为空", "提示");
                    return;
                }
                robotX.Append(dataGridViewRow.Cells[1].Value.ToString());
                robotY.Append(dataGridViewRow.Cells[2].Value.ToString());
            }
            for (int i = 0; i < 9; i++)
            {
                DataGridViewRow dataGridViewRow = dGV_CameraPos.Rows[i];
                if (dataGridViewRow.Cells[1].Value == null || dataGridViewRow.Cells[2].Value == null)
                {
                    MessageBox.Show($"机器人第{(i + 1).ToString()}行点位信息为空", "提示");
                    return;
                }
                cameraX.Append(dataGridViewRow.Cells[1].Value.ToString());
                cameraY.Append(dataGridViewRow.Cells[2].Value.ToString());
            }
            string _path = AppDomain.CurrentDomain.BaseDirectory + "CalibrateData";

            if (!Directory.Exists(_path))
            {
                Directory.CreateDirectory(_path);
            }
            HOperatorSet.WriteTuple(cameraX, _path + "\\cameraX.tup");
            HOperatorSet.WriteTuple(cameraY, _path + "\\cameraY.tup");
            HOperatorSet.WriteTuple(robotX, _path + "\\robotX.tup");
            HOperatorSet.WriteTuple(robotY, _path + "\\robotY.tup");
        }
        public HRegion Process(HRegion region)
        {
            HTuple features = new HTuple();
            HTuple min      = new HTuple();
            HTuple max      = new HTuple();

            string operation = Operation.ToHalconString();

            HRegion selectedRegion = region;

            foreach (var entry in Items)
            {
                var feature = entry.Feature.ToHalconString();
                features.Append(feature);

                min.Append(entry.Min);
                max.Append(entry.Max);
            }

            region = selectedRegion.SelectShape(features, operation, min, max);
            return(region);
        }
            public void FindEdge(HObject image, HTuple row, HTuple column, HTuple radian, out HTuple edgeRow1, out HTuple edgeColumn1, out HTuple edgeRow2, out HTuple edgeColumn2)
            {
                HTuple homMat2D, rowTrans, columnTrans;

                //测量外边缘
                edgeRow1    = 0;
                edgeColumn1 = 0;
                edgeRow2    = 0;
                edgeColumn2 = 0;

                HOperatorSet.GenMeasureRectangle2(row + DisHanldeRow, column /*+ DisHanldeColumn*/, Radian + Math.PI / 2, 20, 40,
                                                  ImageWidth, ImageHeight, Interpolation, out HandleLine);

                for (int i = 0; i <= 5; i++)
                {
                    //设置幅度值
                    HTuple threshold = Threshold - 10 - i * 2;
                    if (threshold < 1)
                    {
                        threshold = 1;
                    }

                    HTuple rows    = new HTuple();
                    HTuple columns = new HTuple();

                    for (int j = 0; j < PinCount; j++)
                    {
                        HTuple rowEdge, columnEdge, amplitude, distance;

                        //变换检测位置
                        //HTuple homMat2D, rowTrans, columnTrans;
                        HOperatorSet.HomMat2dIdentity(out homMat2D);
                        HOperatorSet.HomMat2dTranslate(homMat2D, DisHanldeRow, j * PinDistance, out homMat2D);
                        HOperatorSet.HomMat2dRotate(homMat2D, radian, row, column, out homMat2D);
                        HOperatorSet.AffineTransPixel(homMat2D, row, column, out rowTrans, out columnTrans);

                        HOperatorSet.TranslateMeasure(HandleLine, rowTrans, columnTrans);

                        HOperatorSet.MeasurePos(image, HandleLine, Sigma, threshold, "negative", "first",
                                                out rowEdge, out columnEdge, out amplitude, out distance);

                        if (rowEdge.Length > 0)
                        {
                            rows.Append(rowEdge);
                            columns.Append(columnEdge);
                        }
                    }

                    if (rows.Length >= PinCount / 2)
                    {
                        //生成轮廓
                        HObject contour;
                        HTuple  nr, nc, dist;
                        HOperatorSet.GenContourPolygonXld(out contour, rows, columns);

                        //拟合
                        HOperatorSet.FitLineContourXld(contour, "tukey", -1, 0, 5, 2,
                                                       out edgeRow1, out edgeColumn1, out edgeRow2, out edgeColumn2,
                                                       out nr, out nc, out dist);

                        //生成直线,用于显示
                        contour?.Dispose();
                        HOperatorSet.GenContourPolygonXld(out contour, new HTuple(edgeRow1, edgeRow2), new HTuple(edgeColumn1, edgeColumn2));
                        HOperatorSet.ConcatObj(LineEdge, contour, out LineEdge);

                        break;
                    }
                }

                HOperatorSet.CloseMeasure(HandleLine);
            }
            public void MeasurePos(HObject image, HObject edgeContour)
            {
                //记录测量数量
                int meaCount = 0;

                try
                {
                    HTuple row    = CenterRow;
                    HTuple column = CenterColumn;
                    HTuple radian = Radian;

                    HTuple homMat2D, rowTrans, columnTrans;

                    /*
                     * HOperatorSet.HomMat2dIdentity(out homMat2D);
                     * HOperatorSet.HomMat2dTranslate(homMat2D, 0, PinDistance * PinCount / 2, out homMat2D);
                     * HOperatorSet.HomMat2dRotate(homMat2D, radian, row, column, out homMat2D);
                     * HOperatorSet.AffineTransPixel(homMat2D, row, column, out rowTrans, out columnTrans);
                     *
                     * HObject rect;
                     * HOperatorSet.GenRectangle2(out rect, rowTrans, columnTrans, radian, PinDistance * PinCount / 2 + Width, 100);
                     * HOperatorSet.ReduceDomain(image, rect, out image);
                     *
                     * HOperatorSet.AnisotropicDiffusion(image, out image, "weickert", 5, 1, 10);
                     * HOperatorSet.Emphasize(image, out image, 15, 15, 1);
                     *
                     * HOperatorSet.ConcatObj(LineEdge, image, out LineEdge);
                     */

                    //HTuple edgeRow1, edgeColumn1, edgeRow2, edgeColumn2;
                    //FindEdge(image, row, column, radian, out edgeRow1, out edgeColumn1, out edgeRow2, out edgeColumn2);
                    HOperatorSet.ConcatObj(LineEdge, edgeContour, out LineEdge);

                    //测量所有碳碳点
                    for (int i = 0; i < PinCount; i++)
                    {
                        //变换检测位置
                        //HTuple homMat2D, rowTrans, columnTrans;
                        HOperatorSet.HomMat2dIdentity(out homMat2D);
                        HOperatorSet.HomMat2dTranslate(homMat2D, 0, i * PinDistance, out homMat2D);
                        HOperatorSet.HomMat2dRotate(homMat2D, radian, row, column, out homMat2D);
                        HOperatorSet.AffineTransPixel(homMat2D, row, column, out rowTrans, out columnTrans);

                        //检测碳点
                        HObject contour;
                        HTuple  diameterMax, diameterMin, disLeft, disRight, edgeRow, edgeColumn;
                        MeasureCircle(image, rowTrans, columnTrans, radian, out diameterMax, out diameterMin, out disLeft, out disRight,
                                      out edgeRow, out edgeColumn, out contour);

                        //测量碳点到玻璃边缘的距离
                        HTuple disTop, distanceMax;
                        //HOperatorSet.DistancePl(edgeRow, edgeColumn, edgeRow1, edgeColumn1, edgeRow2, edgeColumn2, out disTop);
                        HOperatorSet.DistancePc(edgeContour, edgeRow, edgeColumn, out disTop, out distanceMax);


                        //像素转毫米
                        double maxDiameter = Math.Round((PlatformCalibData.PixelToMm(diameterMax) + MeasureMgr.GetInstance().OffsetDia), 2);
                        double minDiameter = Math.Round(PlatformCalibData.PixelToMm(diameterMin), 2);
                        double leftPos     = Math.Round(PlatformCalibData.PixelToMm(disLeft), 2);
                        double reghtPos    = Math.Round(PlatformCalibData.PixelToMm(disRight), 2);
                        double topPos      = Math.Round(PlatformCalibData.PixelToMm(disTop), 2);

                        //优先判断面积NG,后判断位置NG
                        double LimiteMax = PlatformCalibData.PixelToMm(PinDistance);
                        if (maxDiameter > LimiteDiameterMax || maxDiameter < LimiteDiameterMin)
                        {
                            HOperatorSet.ConcatObj(ContourAreaNG, contour, out ContourAreaNG);
                            CountAreaNG++;
                        }
                        else if (leftPos < LimiteLeft || leftPos > LimiteMax ||
                                 reghtPos < LimiteRight || reghtPos > LimiteMax ||
                                 topPos < LimiteTopMin || topPos > LimiteTopMax)
                        {
                            HOperatorSet.ConcatObj(ContourPosNG, contour, out ContourPosNG);
                            CountPosNG++;
                        }
                        else
                        {
                            HOperatorSet.ConcatObj(ContourOk, contour, out ContourOk);
                            CountOK++;
                        }

                        //添加到参数列表
                        DiameterMax.Append(maxDiameter);
                        DiameterMin.Append(minDiameter);
                        DisLeft.Append(leftPos);
                        DisRight.Append(reghtPos);
                        DisTop.Append(topPos);

                        //计数
                        meaCount++;
                    }
                }
                catch (Exception e)
                {
                    throw e;
                }
                finally
                {
                    //未测量完成计入面积NG
                    if (PinCount != meaCount)
                    {
                        CountAreaNG += PinCount - meaCount;
                    }
                }
            }
Exemplo n.º 18
0
        // Main procedure
        private HTuple action()
        {
            // Local iconic variables
            HObject ho_Image, ho_ImageRotate, ho_GrayImage;
            HObject ho_ImageMedian, ho_Region, ho_ConnectedRegions;
            HObject ho_SelectedRegions, ho_SelectedRegions2, ho_SelectedRegions1;
            HObject ho_SelectedRegions3, ho_SortedRegions, ho_RegionUnion;
            HObject ho_Rectangle, ho_ImageReduced, ho_GrayImageA, ho_GragImageA;
            HObject ho_RegionsA_temp, ho_ConnectedRegionsA_temp, ho_SelectedRegionsA_temp;
            HObject ho_ImageAffineTrans, ho_RegionsA, ho_RegionDilationA;
            HObject ho_ConnectedRegionsA, ho_SelectedRegionsA, ho_RegionsA1;
            HObject ho_RegionOpeningA, ho_SelectedRegionsA1, ho_RegionUnionA;
            HObject ho_SelectedRegionsA2, ho_RegionsB, ho_ConnectedRegionsB;
            HObject ho_SelectedRegionsB, ho_RectangleB1, ho_RectangleB2;
            HObject ho_RegionDifferenceB, ho_ImageReducedB1, ho_RegionB1;
            HObject ho_ConnectedRegionsB2, ho_SelectedRegionsB2, ho_outContours;
            HObject ho_SelectedContours, ho_SortedContours, ho_Region1;
            HObject ho_ConnectedRegions1, ho_SelectedRegions4, ho_SelectedRegions5;
            HObject ho_SelectedRegions6, ho_Contours, ho_SortedContours3;
            HObject ho_obj = null, ho_objj = null, ho_ContoursSplit = null;
            HObject ho_SelectedXLD = null, ho_SortedContours1 = null, ho_M = null;
            HObject ho_Contour = null, ho_SelectedXLD1 = null, ho_SortedContours2 = null;
            HObject ho_ObjectSelectedB = null;

            // Local control variables

            HTuple hv_NumberB = null, hv_Row1 = null, hv_Column1 = null;
            HTuple hv_Phi = null, hv_Length1 = null, hv_Length2 = null;
            HTuple hv_Phi_temp = null, hv_Area_temp = null, hv_Row_temp = null;
            HTuple hv_Column_temp = null, hv_HomMat2D = null, hv_RowA1 = null;
            HTuple hv_ColumnA1 = null, hv_RowA2 = null, hv_ColumnA2 = null;
            HTuple hv_RowA3 = null, hv_ColumnA3 = null, hv_RowA4 = null;
            HTuple hv_ColumnA4 = null, hv_RowB16 = null, hv_ColumnB16 = null;
            HTuple hv_PhiB3 = null, hv_LengthB1 = null, hv_LengthB2 = null;
            HTuple hv_AreaB = null, hv_RowB2 = null, hv_ColumnB2 = null;
            HTuple hv_Number = null, hv_Number3 = null, hv_A1 = null;
            HTuple hv_A2 = null, hv_B1 = null, hv_B2 = null, hv_C1 = null;
            HTuple hv_C2 = null, hv_C3 = null, hv_C4 = null, hv_i = null;
            HTuple hv_Ro1 = new HTuple(), hv_Co1 = new HTuple(), hv_MinBR = new HTuple();
            HTuple hv_MaxBR = new HTuple(), hv_MinBC = new HTuple();
            HTuple hv_MaxBC = new HTuple(), hv_BR = new HTuple(), hv_BC = new HTuple();
            HTuple hv_j = new HTuple(), hv_Number1 = new HTuple();
            HTuple hv_a = new HTuple(), hv_Ro2 = new HTuple(), hv_Co2 = new HTuple();
            HTuple hv_LUC = new HTuple(), hv_RUC = new HTuple(), hv_Ro3 = new HTuple();
            HTuple hv_Co3 = new HTuple(), hv_LDC = new HTuple(), hv_RDC = new HTuple();
            HTuple hv_RowBegin = new HTuple(), hv_ColBegin = new HTuple();
            HTuple hv_RowEnd = new HTuple(), hv_ColEnd = new HTuple();
            HTuple hv_Nr = new HTuple(), hv_Nc = new HTuple(), hv_Dist = new HTuple();
            HTuple hv_Rowc = new HTuple(), hv_Colc = new HTuple();
            HTuple hv_MeanR = new HTuple(), hv_H1 = new HTuple(), hv_H3 = new HTuple();
            HTuple hv_Number2 = new HTuple(), hv_b = new HTuple();
            HTuple hv_Ro4 = new HTuple(), hv_Co4 = new HTuple(), hv_LUR = new HTuple();
            HTuple hv_LDR = new HTuple(), hv_Ro5 = new HTuple(), hv_Co5 = new HTuple();
            HTuple hv_RUR = new HTuple(), hv_RDR = new HTuple(), hv_MeanC = new HTuple();
            HTuple hv_H4 = new HTuple(), hv_H2 = new HTuple(), hv_Distance1 = new HTuple();
            HTuple hv_Distance2 = new HTuple(), hv_AreaA = null, hv_RowA = null;
            HTuple hv_ColumnA = null, hv_phi = null, hv_paozhengwei = null;
            HTuple hv_k = null, hv_Indices = null, hv_liebo = null;
            HTuple hv_NumB = null, hv_count = null, hv_I = new HTuple();
            HTuple hv_AreaB1 = new HTuple(), hv_RowB3 = new HTuple();
            HTuple hv_ColumnB3 = new HTuple();

            // Initialize local and output iconic variables
            HOperatorSet.GenEmptyObj(out ho_Image);
            HOperatorSet.GenEmptyObj(out ho_ImageRotate);
            HOperatorSet.GenEmptyObj(out ho_GrayImage);
            HOperatorSet.GenEmptyObj(out ho_ImageMedian);
            HOperatorSet.GenEmptyObj(out ho_Region);
            HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
            HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
            HOperatorSet.GenEmptyObj(out ho_SelectedRegions2);
            HOperatorSet.GenEmptyObj(out ho_SelectedRegions1);
            HOperatorSet.GenEmptyObj(out ho_SelectedRegions3);
            HOperatorSet.GenEmptyObj(out ho_SortedRegions);
            HOperatorSet.GenEmptyObj(out ho_RegionUnion);
            HOperatorSet.GenEmptyObj(out ho_Rectangle);
            HOperatorSet.GenEmptyObj(out ho_ImageReduced);
            HOperatorSet.GenEmptyObj(out ho_GrayImageA);
            HOperatorSet.GenEmptyObj(out ho_GragImageA);
            HOperatorSet.GenEmptyObj(out ho_RegionsA_temp);
            HOperatorSet.GenEmptyObj(out ho_ConnectedRegionsA_temp);
            HOperatorSet.GenEmptyObj(out ho_SelectedRegionsA_temp);
            HOperatorSet.GenEmptyObj(out ho_ImageAffineTrans);
            HOperatorSet.GenEmptyObj(out ho_RegionsA);
            HOperatorSet.GenEmptyObj(out ho_RegionDilationA);
            HOperatorSet.GenEmptyObj(out ho_ConnectedRegionsA);
            HOperatorSet.GenEmptyObj(out ho_SelectedRegionsA);
            HOperatorSet.GenEmptyObj(out ho_RegionsA1);
            HOperatorSet.GenEmptyObj(out ho_RegionOpeningA);
            HOperatorSet.GenEmptyObj(out ho_SelectedRegionsA1);
            HOperatorSet.GenEmptyObj(out ho_RegionUnionA);
            HOperatorSet.GenEmptyObj(out ho_SelectedRegionsA2);
            HOperatorSet.GenEmptyObj(out ho_RegionsB);
            HOperatorSet.GenEmptyObj(out ho_ConnectedRegionsB);
            HOperatorSet.GenEmptyObj(out ho_SelectedRegionsB);
            HOperatorSet.GenEmptyObj(out ho_RectangleB1);
            HOperatorSet.GenEmptyObj(out ho_RectangleB2);
            HOperatorSet.GenEmptyObj(out ho_RegionDifferenceB);
            HOperatorSet.GenEmptyObj(out ho_ImageReducedB1);
            HOperatorSet.GenEmptyObj(out ho_RegionB1);
            HOperatorSet.GenEmptyObj(out ho_ConnectedRegionsB2);
            HOperatorSet.GenEmptyObj(out ho_SelectedRegionsB2);
            HOperatorSet.GenEmptyObj(out ho_outContours);
            HOperatorSet.GenEmptyObj(out ho_SelectedContours);
            HOperatorSet.GenEmptyObj(out ho_SortedContours);
            HOperatorSet.GenEmptyObj(out ho_Region1);
            HOperatorSet.GenEmptyObj(out ho_ConnectedRegions1);
            HOperatorSet.GenEmptyObj(out ho_SelectedRegions4);
            HOperatorSet.GenEmptyObj(out ho_SelectedRegions5);
            HOperatorSet.GenEmptyObj(out ho_SelectedRegions6);
            HOperatorSet.GenEmptyObj(out ho_Contours);
            HOperatorSet.GenEmptyObj(out ho_SortedContours3);
            HOperatorSet.GenEmptyObj(out ho_obj);
            HOperatorSet.GenEmptyObj(out ho_objj);
            HOperatorSet.GenEmptyObj(out ho_ContoursSplit);
            HOperatorSet.GenEmptyObj(out ho_SelectedXLD);
            HOperatorSet.GenEmptyObj(out ho_SortedContours1);
            HOperatorSet.GenEmptyObj(out ho_M);
            HOperatorSet.GenEmptyObj(out ho_Contour);
            HOperatorSet.GenEmptyObj(out ho_SelectedXLD1);
            HOperatorSet.GenEmptyObj(out ho_SortedContours2);
            HOperatorSet.GenEmptyObj(out ho_ObjectSelectedB);
            ho_Image.Dispose();
            if (!this.index)
            {
                HOperatorSet.ReadImage(out ho_Image, "test.bmp");
            }
            else
            {
                HOperatorSet.ReadImage(out ho_Image, "PersonImg\\xiaosy.png");
            }


            //*******************************************第一组预处理***********************************************
            ho_ImageRotate.Dispose();
            HOperatorSet.RotateImage(ho_Image, out ho_ImageRotate, 45, "constant");
            ho_GrayImage.Dispose();
            HOperatorSet.Rgb1ToGray(ho_ImageRotate, out ho_GrayImage);
            ho_ImageMedian.Dispose();
            HOperatorSet.MedianImage(ho_GrayImage, out ho_ImageMedian, "circle", 3, "mirrored");
            ho_Region.Dispose();
            HOperatorSet.Threshold(ho_GrayImage, out ho_Region, 200, 255);
            ho_ConnectedRegions.Dispose();
            HOperatorSet.Connection(ho_Region, out ho_ConnectedRegions);
            ho_SelectedRegions.Dispose();
            HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions, "area",
                                     "and", 150, 99999);
            ho_SelectedRegions2.Dispose();
            HOperatorSet.SelectShape(ho_SelectedRegions, out ho_SelectedRegions2, "circularity",
                                     "and", 0.37, 0.7);
            ho_SelectedRegions1.Dispose();
            HOperatorSet.ClosingRectangle1(ho_SelectedRegions2, out ho_SelectedRegions1,
                                           5, 5);
            ho_SelectedRegions3.Dispose();
            HOperatorSet.SelectShape(ho_SelectedRegions1, out ho_SelectedRegions3, "holes_num",
                                     "and", 1, 99);
            ho_SortedRegions.Dispose();
            HOperatorSet.SortRegion(ho_SelectedRegions3, out ho_SortedRegions, "first_point",
                                    "true", "column");
            HOperatorSet.CountObj(ho_SelectedRegions3, out hv_NumberB);
            ho_RegionUnion.Dispose();
            HOperatorSet.Union1(ho_SelectedRegions3, out ho_RegionUnion);
            HOperatorSet.SmallestRectangle2(ho_RegionUnion, out hv_Row1, out hv_Column1,
                                            out hv_Phi, out hv_Length1, out hv_Length2);
            ho_Rectangle.Dispose();
            HOperatorSet.GenRectangle2(out ho_Rectangle, hv_Row1, hv_Column1, hv_Phi, hv_Length1,
                                       hv_Length2);
            ho_ImageReduced.Dispose();
            HOperatorSet.ReduceDomain(ho_GrayImage, ho_Rectangle, out ho_ImageReduced);



            //*******************************************第二组预处理***********************************************
            ho_GrayImageA.Dispose();
            HOperatorSet.Rgb1ToGray(ho_Image, out ho_GrayImageA);
            ho_GragImageA.Dispose();
            HOperatorSet.GrayDilationRect(ho_GrayImageA, out ho_GragImageA, 4, 4);
            ho_RegionsA_temp.Dispose();
            HOperatorSet.Threshold(ho_GrayImageA, out ho_RegionsA_temp, 116, 218);
            ho_ConnectedRegionsA_temp.Dispose();
            HOperatorSet.Connection(ho_RegionsA_temp, out ho_ConnectedRegionsA_temp);
            ho_SelectedRegionsA_temp.Dispose();
            HOperatorSet.SelectShape(ho_ConnectedRegionsA_temp, out ho_SelectedRegionsA_temp,
                                     "area", "and", 108357, 495042);
            HOperatorSet.OrientationRegion(ho_SelectedRegionsA_temp, out hv_Phi_temp);
            HOperatorSet.AreaCenter(ho_SelectedRegionsA_temp, out hv_Area_temp, out hv_Row_temp,
                                    out hv_Column_temp);
            HOperatorSet.VectorAngleToRigid(hv_Row_temp, hv_Column_temp, hv_Phi_temp, hv_Row_temp,
                                            hv_Column_temp, (new HTuple(0)).TupleRad(), out hv_HomMat2D);
            ho_ImageAffineTrans.Dispose();
            HOperatorSet.AffineTransImage(ho_GrayImageA, out ho_ImageAffineTrans, hv_HomMat2D,
                                          "constant", "false");
            ho_RegionsA.Dispose();
            HOperatorSet.Threshold(ho_ImageAffineTrans, out ho_RegionsA, 116, 218);
            ho_RegionDilationA.Dispose();
            HOperatorSet.DilationRectangle1(ho_RegionsA, out ho_RegionDilationA, 2, 2);
            ho_ConnectedRegionsA.Dispose();
            HOperatorSet.Connection(ho_RegionDilationA, out ho_ConnectedRegionsA);
            ho_SelectedRegionsA.Dispose();
            HOperatorSet.SelectShape(ho_ConnectedRegionsA, out ho_SelectedRegionsA, "circularity",
                                     "and", 0.001, 0.03);
            ho_RegionsA1.Dispose();
            HOperatorSet.Threshold(ho_GrayImageA, out ho_RegionsA1, 227, 255);
            ho_RegionOpeningA.Dispose();
            HOperatorSet.OpeningCircle(ho_RegionsA1, out ho_RegionOpeningA, 5.5);
            ho_ConnectedRegionsA.Dispose();
            HOperatorSet.Connection(ho_RegionOpeningA, out ho_ConnectedRegionsA);
            ho_SelectedRegionsA1.Dispose();
            HOperatorSet.SelectShape(ho_ConnectedRegionsA, out ho_SelectedRegionsA1, "row",
                                     "and", 513.2, 601.23);
            ho_RegionUnionA.Dispose();
            HOperatorSet.Union1(ho_SelectedRegionsA1, out ho_RegionUnionA);
            HOperatorSet.SmallestRectangle1(ho_RegionUnionA, out hv_RowA1, out hv_ColumnA1,
                                            out hv_RowA2, out hv_ColumnA2);
            ho_SelectedRegionsA2.Dispose();
            HOperatorSet.SelectShape(ho_ConnectedRegionsA, out ho_SelectedRegionsA2, "width",
                                     "and", 92.694, 100);
            HOperatorSet.InnerRectangle1(ho_SelectedRegionsA2, out hv_RowA3, out hv_ColumnA3,
                                         out hv_RowA4, out hv_ColumnA4);
            ho_ConnectedRegionsA.Dispose();
            HOperatorSet.Connection(ho_RegionsA1, out ho_ConnectedRegionsA);



            //*******************************************第三组预处理*********************************************
            ho_RegionsB.Dispose();
            HOperatorSet.Threshold(ho_Image, out ho_RegionsB, 131, 153);
            ho_ConnectedRegionsB.Dispose();
            HOperatorSet.Connection(ho_RegionsB, out ho_ConnectedRegionsB);
            ho_SelectedRegionsB.Dispose();
            HOperatorSet.SelectShapeStd(ho_ConnectedRegionsB, out ho_SelectedRegionsB, "max_area",
                                        70);
            HOperatorSet.SmallestRectangle2(ho_SelectedRegionsB, out hv_RowB16, out hv_ColumnB16,
                                            out hv_PhiB3, out hv_LengthB1, out hv_LengthB2);
            ho_RectangleB1.Dispose();
            HOperatorSet.GenRectangle2(out ho_RectangleB1, hv_RowB16 - 5, hv_ColumnB16, hv_PhiB3,
                                       hv_LengthB1 - 5, hv_LengthB2 - 5);
            ho_RectangleB2.Dispose();
            HOperatorSet.GenRectangle2(out ho_RectangleB2, hv_RowB16 - 3, hv_ColumnB16, hv_PhiB3,
                                       hv_LengthB1 - 5, hv_LengthB2 - 18);
            ho_RegionDifferenceB.Dispose();
            HOperatorSet.Difference(ho_RectangleB1, ho_RectangleB2, out ho_RegionDifferenceB
                                    );
            ho_ImageReducedB1.Dispose();
            HOperatorSet.ReduceDomain(ho_Image, ho_RegionDifferenceB, out ho_ImageReducedB1
                                      );
            ho_RegionB1.Dispose();
            HOperatorSet.Threshold(ho_ImageReducedB1, out ho_RegionB1, 200, 255);
            ho_ConnectedRegionsB2.Dispose();
            HOperatorSet.Connection(ho_RegionB1, out ho_ConnectedRegionsB2);
            ho_SelectedRegionsB2.Dispose();
            HOperatorSet.SelectShape(ho_ConnectedRegionsB2, out ho_SelectedRegionsB2, "area",
                                     "and", 26.01, 200);
            HOperatorSet.AreaCenter(ho_SelectedRegionsB2, out hv_AreaB, out hv_RowB2, out hv_ColumnB2);


            //*****************************************花瓣ABC**************************************************

            //边缘轮廓检测
            ho_outContours.Dispose();
            HOperatorSet.GenContourRegionXld(ho_SelectedRegions3, out ho_outContours, "border");
            ho_SelectedContours.Dispose();
            HOperatorSet.SelectContoursXld(ho_outContours, out ho_SelectedContours, "contour_length",
                                           60, 600, -0.5, 0.5);
            ho_SortedContours.Dispose();
            HOperatorSet.SortContoursXld(ho_SelectedContours, out ho_SortedContours, "upper_left",
                                         "true", "column");
            HOperatorSet.CountObj(ho_SortedContours, out hv_Number);

            //中心轮廓检测
            ho_Region1.Dispose();
            HOperatorSet.Threshold(ho_ImageReduced, out ho_Region1, 0, 135);
            ho_ConnectedRegions1.Dispose();
            HOperatorSet.Connection(ho_Region1, out ho_ConnectedRegions1);
            ho_SelectedRegions4.Dispose();
            HOperatorSet.SelectShape(ho_ConnectedRegions1, out ho_SelectedRegions4, "area",
                                     "and", 230, 600);
            ho_SelectedRegions5.Dispose();
            HOperatorSet.SelectShape(ho_SelectedRegions4, out ho_SelectedRegions5, "ratio",
                                     "and", 0.7, 1.352);
            ho_SelectedRegions6.Dispose();
            HOperatorSet.SelectShape(ho_SelectedRegions5, out ho_SelectedRegions6, "circularity",
                                     "and", 0.2, 1);
            ho_Contours.Dispose();
            HOperatorSet.GenContourRegionXld(ho_SelectedRegions6, out ho_Contours, "border");
            ho_SortedContours3.Dispose();
            HOperatorSet.SortContoursXld(ho_Contours, out ho_SortedContours3, "upper_left",
                                         "true", "row");
            HOperatorSet.CountObj(ho_SortedContours3, out hv_Number3);


            if ((int)(new HTuple((((hv_Number + hv_Number3) % 2)).TupleEqual(1))) != 0)
            {
                //这里需要在C#输出无法检测的信息
                HDevelopStop();
            }



            //里面的轮廓 A1左上到右下 A2左下到右上
            hv_A1 = new HTuple();
            hv_A2 = new HTuple();
            //外面的轮廓 B1垂直方向 B2水平方向
            hv_B1 = new HTuple();
            hv_B2 = new HTuple();
            //c1到c4顺时针顺序的四个花瓣长度
            hv_C1 = new HTuple();
            hv_C2 = new HTuple();
            hv_C3 = new HTuple();
            hv_C4 = new HTuple();


            //B的检测
            HTuple end_val103  = hv_Number;
            HTuple step_val103 = 1;

            for (hv_i = 1; hv_i.Continue(end_val103, step_val103); hv_i = hv_i.TupleAdd(step_val103))
            {
                ho_obj.Dispose();
                HOperatorSet.SelectObj(ho_SortedContours, out ho_obj, hv_i);
                HOperatorSet.GetContourXld(ho_obj, out hv_Ro1, out hv_Co1);
                HOperatorSet.TupleMin(hv_Ro1, out hv_MinBR);
                HOperatorSet.TupleMax(hv_Ro1, out hv_MaxBR);
                HOperatorSet.TupleMin(hv_Co1, out hv_MinBC);
                HOperatorSet.TupleMax(hv_Co1, out hv_MaxBC);
                hv_BR = hv_MaxBR - hv_MinBR;
                hv_BC = hv_MaxBC - hv_MinBC;
                hv_B1 = hv_B1.TupleConcat(hv_BR);
                hv_B2 = hv_B2.TupleConcat(hv_BC);



                //A的检测
                HTuple end_val118  = hv_Number3;
                HTuple step_val118 = 1;
                for (hv_j = 1; hv_j.Continue(end_val118, step_val118); hv_j = hv_j.TupleAdd(step_val118))
                {
                    if ((int)(new HTuple(hv_i.TupleEqual(hv_j))) != 0)
                    {
                        ho_objj.Dispose();
                        HOperatorSet.SelectObj(ho_SortedContours3, out ho_objj, hv_j);



                        //C的检测
                        ho_ContoursSplit.Dispose();
                        HOperatorSet.SegmentContoursXld(ho_objj, out ho_ContoursSplit, "lines",
                                                        5, 4, 2);
                        ho_SelectedXLD.Dispose();
                        HOperatorSet.SelectShapeXld(ho_ContoursSplit, out ho_SelectedXLD, "width",
                                                    "and", 13, 99);
                        ho_SortedContours1.Dispose();
                        HOperatorSet.SortContoursXld(ho_SelectedXLD, out ho_SortedContours1, "upper_left",
                                                     "true", "row");
                        HOperatorSet.CountObj(ho_SortedContours1, out hv_Number1);
                        HTuple end_val130  = hv_Number1;
                        HTuple step_val130 = 1;
                        for (hv_a = 1; hv_a.Continue(end_val130, step_val130); hv_a = hv_a.TupleAdd(step_val130))
                        {
                            ho_M.Dispose();
                            HOperatorSet.SelectObj(ho_SortedContours1, out ho_M, hv_a);
                            if ((int)(new HTuple(hv_a.TupleEqual(1))) != 0)
                            {
                                HOperatorSet.GetContourXld(ho_M, out hv_Ro2, out hv_Co2);
                                HOperatorSet.TupleMin(hv_Co2, out hv_LUC);
                                HOperatorSet.TupleMax(hv_Co2, out hv_RUC);
                            }
                            else
                            {
                                HOperatorSet.GetContourXld(ho_M, out hv_Ro3, out hv_Co3);
                                HOperatorSet.TupleMin(hv_Co3, out hv_LDC);
                                HOperatorSet.TupleMax(hv_Co3, out hv_RDC);
                            }
                            HOperatorSet.FitLineContourXld(ho_M, "huber", -1, 0, 5, 2, out hv_RowBegin,
                                                           out hv_ColBegin, out hv_RowEnd, out hv_ColEnd, out hv_Nr, out hv_Nc,
                                                           out hv_Dist);
                            ho_Contour.Dispose();
                            HOperatorSet.GenContourPolygonXld(out ho_Contour, hv_RowBegin.TupleConcat(
                                                                  hv_RowEnd), hv_ColBegin.TupleConcat(hv_ColEnd));
                            HOperatorSet.GetContourXld(ho_Contour, out hv_Rowc, out hv_Colc);
                            HOperatorSet.TupleMean(hv_Rowc, out hv_MeanR);
                            if ((int)(new HTuple(hv_a.TupleEqual(1))) != 0)
                            {
                                hv_H1 = hv_MeanR - hv_MinBR;
                                hv_C1 = hv_C1.TupleConcat(hv_H1);
                            }
                            else
                            {
                                hv_H3 = hv_MaxBR - hv_MeanR;
                                hv_C3 = hv_C3.TupleConcat(hv_H3);
                            }
                        }

                        ho_SelectedXLD1.Dispose();
                        HOperatorSet.SelectShapeXld(ho_ContoursSplit, out ho_SelectedXLD1, "height",
                                                    "and", 13, 99);
                        ho_SortedContours2.Dispose();
                        HOperatorSet.SortContoursXld(ho_SelectedXLD1, out ho_SortedContours2, "upper_left",
                                                     "true", "column");
                        HOperatorSet.CountObj(ho_SortedContours2, out hv_Number2);
                        HTuple end_val157  = hv_Number2;
                        HTuple step_val157 = 1;
                        for (hv_b = 1; hv_b.Continue(end_val157, step_val157); hv_b = hv_b.TupleAdd(step_val157))
                        {
                            ho_M.Dispose();
                            HOperatorSet.SelectObj(ho_SortedContours2, out ho_M, hv_b);
                            if ((int)(new HTuple(hv_b.TupleEqual(1))) != 0)
                            {
                                HOperatorSet.GetContourXld(ho_M, out hv_Ro4, out hv_Co4);
                                HOperatorSet.TupleMin(hv_Ro4, out hv_LUR);
                                HOperatorSet.TupleMax(hv_Ro4, out hv_LDR);
                            }
                            else
                            {
                                HOperatorSet.GetContourXld(ho_M, out hv_Ro5, out hv_Co5);
                                HOperatorSet.TupleMin(hv_Ro5, out hv_RUR);
                                HOperatorSet.TupleMax(hv_Ro5, out hv_RDR);
                            }
                            HOperatorSet.FitLineContourXld(ho_M, "huber", -1, 0, 5, 2, out hv_RowBegin,
                                                           out hv_ColBegin, out hv_RowEnd, out hv_ColEnd, out hv_Nr, out hv_Nc,
                                                           out hv_Dist);
                            ho_Contour.Dispose();
                            HOperatorSet.GenContourPolygonXld(out ho_Contour, hv_RowBegin.TupleConcat(
                                                                  hv_RowEnd), hv_ColBegin.TupleConcat(hv_ColEnd));
                            HOperatorSet.GetContourXld(ho_Contour, out hv_Rowc, out hv_Colc);
                            HOperatorSet.TupleMean(hv_Colc, out hv_MeanC);
                            if ((int)(new HTuple(hv_b.TupleEqual(1))) != 0)
                            {
                                hv_H4 = hv_MeanC - hv_MinBC;
                                hv_C4 = hv_C4.TupleConcat(hv_H4);
                            }
                            else
                            {
                                hv_H2 = hv_MaxBC - hv_MeanC;
                                hv_C2 = hv_C2.TupleConcat(hv_H2);
                            }
                        }

                        HOperatorSet.DistancePp(hv_LUC, hv_LUR, hv_RDC, hv_RDR, out hv_Distance1);
                        HOperatorSet.DistancePp(hv_RUC, hv_RUR, hv_LDC, hv_LDR, out hv_Distance2);
                        hv_A1 = hv_A1.TupleConcat(hv_Distance1);
                        hv_A2 = hv_A2.TupleConcat(hv_Distance2);
                    }
                }
            }

            //*********************************倾斜角度 跑针位 k*******************************************
            HOperatorSet.AreaCenter(ho_SelectedRegionsA, out hv_AreaA, out hv_RowA, out hv_ColumnA);
            HOperatorSet.OrientationRegion(ho_SelectedRegionsA, out hv_Phi);
            hv_Phi         = hv_Phi.TupleDeg();
            hv_phi         = ((90 - (hv_Phi.TupleAbs()))).TupleAbs();
            hv_paozhengwei = (hv_RowA3 - ((hv_RowA2 / 2) + (hv_RowA1 / 2))) - 4;
            hv_k           = (hv_RowA2 - hv_RowA1) + 4;



            //***************************************裂箔****************************************************
            HOperatorSet.TupleSortIndex(hv_AreaB, out hv_Indices);
            hv_liebo = new HTuple();
            hv_NumB  = new HTuple(hv_Indices.TupleLength());
            hv_count = 0;
            if ((int)(new HTuple(hv_NumB.TupleGreater(0))) != 0)
            {
                HTuple end_val208  = hv_NumB;
                HTuple step_val208 = 1;
                for (hv_I = 1; hv_I.Continue(end_val208, step_val208); hv_I = hv_I.TupleAdd(step_val208))
                {
                    ho_ObjectSelectedB.Dispose();
                    HOperatorSet.SelectObj(ho_SelectedRegionsB2, out ho_ObjectSelectedB, hv_I);
                    HOperatorSet.AreaCenter(ho_ObjectSelectedB, out hv_AreaB1, out hv_RowB3,
                                            out hv_ColumnB3);
                    if ((int)(new HTuple(hv_AreaB1.TupleGreater(30))) != 0)
                    {
                        hv_count = hv_count + 1;
                    }
                    else
                    {
                    }
                }
            }
            else
            {
            }
            if (hv_liebo == null)
            {
                hv_liebo = new HTuple();
            }
            hv_liebo[0] = hv_count;

            HTuple result = new HTuple();

            result.Append(hv_A1[0]);
            result.Append(hv_A2[0]);
            result.Append(hv_B1[0]);
            result.Append(hv_B2[0]);
            result.Append(hv_C1[0]);
            result.Append(hv_C2[0]);
            result.Append(hv_C3[0]);
            result.Append(hv_C4[0]);

            result.Append(hv_phi[0]);
            result.Append(hv_paozhengwei[0]);
            result.Append(hv_liebo[0]);



            //**************************************************************************************************



            ho_Image.Dispose();
            ho_ImageRotate.Dispose();
            ho_GrayImage.Dispose();
            ho_ImageMedian.Dispose();
            ho_Region.Dispose();
            ho_ConnectedRegions.Dispose();
            ho_SelectedRegions.Dispose();
            ho_SelectedRegions2.Dispose();
            ho_SelectedRegions1.Dispose();
            ho_SelectedRegions3.Dispose();
            ho_SortedRegions.Dispose();
            ho_RegionUnion.Dispose();
            ho_Rectangle.Dispose();
            ho_ImageReduced.Dispose();
            ho_GrayImageA.Dispose();
            ho_GragImageA.Dispose();
            ho_RegionsA_temp.Dispose();
            ho_ConnectedRegionsA_temp.Dispose();
            ho_SelectedRegionsA_temp.Dispose();
            ho_ImageAffineTrans.Dispose();
            ho_RegionsA.Dispose();
            ho_RegionDilationA.Dispose();
            ho_ConnectedRegionsA.Dispose();
            ho_SelectedRegionsA.Dispose();
            ho_RegionsA1.Dispose();
            ho_RegionOpeningA.Dispose();
            ho_SelectedRegionsA1.Dispose();
            ho_RegionUnionA.Dispose();
            ho_SelectedRegionsA2.Dispose();
            ho_RegionsB.Dispose();
            ho_ConnectedRegionsB.Dispose();
            ho_SelectedRegionsB.Dispose();
            ho_RectangleB1.Dispose();
            ho_RectangleB2.Dispose();
            ho_RegionDifferenceB.Dispose();
            ho_ImageReducedB1.Dispose();
            ho_RegionB1.Dispose();
            ho_ConnectedRegionsB2.Dispose();
            ho_SelectedRegionsB2.Dispose();
            ho_outContours.Dispose();
            ho_SelectedContours.Dispose();
            ho_SortedContours.Dispose();
            ho_Region1.Dispose();
            ho_ConnectedRegions1.Dispose();
            ho_SelectedRegions4.Dispose();
            ho_SelectedRegions5.Dispose();
            ho_SelectedRegions6.Dispose();
            ho_Contours.Dispose();
            ho_SortedContours3.Dispose();
            ho_obj.Dispose();
            ho_objj.Dispose();
            ho_ContoursSplit.Dispose();
            ho_SelectedXLD.Dispose();
            ho_SortedContours1.Dispose();
            ho_M.Dispose();
            ho_Contour.Dispose();
            ho_SelectedXLD1.Dispose();
            ho_SortedContours2.Dispose();
            ho_ObjectSelectedB.Dispose();
            return(result);
        }
Exemplo n.º 19
0
        /// <summary>
        /// The section of the user process.
        /// 用户自定义流程函数。
        ///
        /// Please write your process in the following method.
        /// 请在以下函数中定义您的工艺流程。
        ///
        /// </summary>
        /// <param name="Service"></param>
        /// <returns></returns>
        static void BenchMarkSet(SystemServiceClient Service, CamRemoteAccessContractClient Camera = null)
        {
            string message = "";


            double pdX = 0, pdY = 0, pdAngle = 0;
            double offsetX, offsetY, offsetAngle;

            Camera.SetExposure("AWG", 30000);
            Camera.SetExposure("Left", 16000);


            try
            {
                if (!Directory.Exists(programDataFile))
                {
                    Directory.CreateDirectory(programDataFile);
                }

                if (!File.Exists(programDataFile + "\\calibratedata.tup"))
                {
                    throw new Exception("cannot find the calibratedata  file");
                }

                if (!File.Exists(programDataFile + "\\Model"))
                {
                    throw new Exception("cannot find the  model file");
                }

                HOperatorSet.ReadTuple(programDataFile + "\\calibratedata.tup", out calibratedata);
                HOperatorSet.ReadShapeModel(programDataFile + "\\Model", out HTuple model);

                PointInfo pdOriginAngle = new PointInfo();
                pdOriginAngle.AxisInfos.Add(GenerateSingleAxisInfo(Service, Aliger, "R"));
                pdOriginAngle.Aliger    = Aliger;
                pdOriginAngle.PointName = "pd初始角度";
                pdOriginAngle.Save(programDataFile, "pd初始角度.json");

                PointInfo awgCouplingLower = new PointInfo();
                awgCouplingLower.AxisInfos.Add(GenerateSingleAxisInfo(Service, Aliger, "Z", 20));
                awgCouplingLower.Aliger    = Aliger;
                awgCouplingLower.PointName = "Awg耦合低位";
                awgCouplingLower.Save(programDataFile, "Awg耦合低位.json");

                Service.__SSC_MoveAxis(Aliger, "Z", SSC_MoveMode.REL, 100, -500);

                PointInfo awgCouplingHigher = new PointInfo();
                awgCouplingHigher.AxisInfos.Add(GenerateSingleAxisInfo(Service, Aliger, "X"));
                awgCouplingHigher.AxisInfos.Add(GenerateSingleAxisInfo(Service, Aliger, "Y"));
                awgCouplingHigher.AxisInfos.Add(GenerateSingleAxisInfo(Service, Aliger, "Z", 100, 2));
                awgCouplingHigher.Aliger    = Aliger;
                awgCouplingHigher.PointName = "Awg耦合高位";
                awgCouplingHigher.Save(programDataFile, "Awg耦合高位.json");



                #region  pd初始位置获取并保存
                Service.__SSC_MoveToPresetPosition(Conditions.ALIGNER, "pd拍照位置");
                var     image2 = Camera.GrabOneFrame("Left");
                HObject pdImage;
                visionFun.Bitmap2HObjectBpp32(image2, out pdImage);
                GetPdOriginPosition(pdImage, out double pdx, out double pdy, out double pdangle, out Bitmap pdresultImage);
                Service.__SSC_ShowImage(pdresultImage);
                HTuple PdOrigin = new HTuple();
                PdOrigin.Append(pdx);
                PdOrigin.Append(pdy);
                PdOrigin.Append(pdangle);
                HOperatorSet.WriteTuple(PdOrigin, programDataFile + "\\PdOrigin.tup");

                #endregion


                #region awg初始位置获取并保存
                Service.__SSC_MoveToPresetPosition(Conditions.ALIGNER, "awg拍照位置");
                Thread.Sleep(100);
                var     image1 = Camera.GrabOneFrame("AWG");
                HObject awgImage;
                visionFun.Bitmap2HObjectBpp32(image1, out awgImage);
                GetAwgOriginPosition(awgImage, out double awgX, out double awgY, out double awgAngle, out Bitmap awgimage);
                Service.__SSC_ShowImage(awgimage);
                HTuple AwgOrigin = new HTuple();
                AwgOrigin.Append(awgX);
                AwgOrigin.Append(awgY);
                AwgOrigin.Append(awgAngle);
                HOperatorSet.WriteTuple(AwgOrigin, programDataFile + "\\AwgOrigin.tup");
                #endregion
            }
            catch (Exception ex)
            {
                Service.__SSC_LogError(ex.Message);
            }

            System.Threading.Thread.Sleep(100);
        }
Exemplo n.º 20
0
        private static bool DepthFromFocusProc(HImage image, string imgSaveFolder, string imgSaveName)
        {
            bool ret = false;

            try
            {
                HObject ho_img1 = new HObject();
                HObject ho_img2 = new HObject();
                HObject ho_img3 = new HObject();
                HOperatorSet.Decompose3(image, out ho_img1, out ho_img2, out ho_img3);

                HTuple filter = new HTuple("highpass");
                filter.Append(7);
                filter.Append(7);
                HTuple selection = new HTuple("next_maximum");

                HOperatorSet.ChannelsToImage(ho_img1, out ho_img1);
                HObject ho_Depth1      = new HObject();
                HObject ho_Confidence1 = new HObject();
                HOperatorSet.DepthFromFocus(ho_img1, out ho_Depth1, out ho_Confidence1, filter, selection);
                //Construct sharp image
                HObject ho_DepthHighConf1 = new HObject();
                HOperatorSet.MeanImage(ho_Depth1, out ho_DepthHighConf1, 11, 11);
                HObject ho_SharpImage1 = new HObject();
                HOperatorSet.SelectGrayvaluesFromChannels(ho_img1, ho_DepthHighConf1, out ho_SharpImage1);
                //Smooth depth map
                //HObject ho_ImageScaleMax1 = new HObject();
                //HOperatorSet.ScaleImageMax(ho_DepthHighConf1, out ho_ImageScaleMax1);
                //HObject ho_DepthMean1 = new HObject();
                //HOperatorSet.MeanImage(ho_ImageScaleMax1, out ho_DepthMean1, 51, 51);
                //HOperatorSet.WriteImage(ho_SharpImage1, "bmp", 0, imgSaveFolder + "\\SharpImage1.bmp");

                HOperatorSet.ChannelsToImage(ho_img2, out ho_img2);
                HObject ho_Depth2      = new HObject();
                HObject ho_Confidence2 = new HObject();
                HOperatorSet.DepthFromFocus(ho_img2, out ho_Depth2, out ho_Confidence2, filter, selection);
                //Construct sharp image
                HObject ho_DepthHighConf2 = new HObject();
                HOperatorSet.MeanImage(ho_Depth2, out ho_DepthHighConf2, 11, 11);
                HObject ho_SharpImage2 = new HObject();
                HOperatorSet.SelectGrayvaluesFromChannels(ho_img2, ho_DepthHighConf2, out ho_SharpImage2);
                //Smooth depth map
                //HObject ho_ImageScaleMax2 = new HObject();
                //HOperatorSet.ScaleImageMax(ho_DepthHighConf2, out ho_ImageScaleMax2);
                //HObject ho_DepthMean2 = new HObject();
                //HOperatorSet.MeanImage(ho_ImageScaleMax2, out ho_DepthMean2, 51, 51);
                //HOperatorSet.WriteImage(ho_SharpImage2, "bmp", 0, imgSaveFolder + "\\SharpImage2.bmp");

                HOperatorSet.ChannelsToImage(ho_img3, out ho_img3);
                HObject ho_Depth3      = new HObject();
                HObject ho_Confidence3 = new HObject();
                HOperatorSet.DepthFromFocus(ho_img3, out ho_Depth3, out ho_Confidence3, filter, selection);
                //Construct sharp image
                HObject ho_DepthHighConf3 = new HObject();
                HOperatorSet.MeanImage(ho_Depth3, out ho_DepthHighConf3, 11, 11);
                HObject ho_SharpImage3 = new HObject();
                HOperatorSet.SelectGrayvaluesFromChannels(ho_img3, ho_DepthHighConf3, out ho_SharpImage3);
                //Smooth depth map
                //HObject ho_ImageScaleMax3 = new HObject();
                //HOperatorSet.ScaleImageMax(ho_DepthHighConf3, out ho_ImageScaleMax3);
                //HObject ho_DepthMean3 = new HObject();
                //HOperatorSet.MeanImage(ho_ImageScaleMax3, out ho_DepthMean3, 51, 51);
                //HOperatorSet.WriteImage(ho_SharpImage3, "bmp", 0, imgSaveFolder + "\\SharpImage3.bmp");

                HObject ho_SharpImage = new HObject();
                HOperatorSet.Compose3(ho_SharpImage1, ho_SharpImage2, ho_SharpImage3, out ho_SharpImage);
                HOperatorSet.WriteImage(ho_SharpImage, "bmp", 0, imgSaveFolder + "\\" + imgSaveName);
                ho_SharpImage.Dispose();

                ret = true;
            }
            catch (HalconException hex)
            {
                Trace.WriteLine(hex.GetErrorMessage(), "HALCON error");
            }
            return(ret);
        }
Exemplo n.º 21
0
        public bool FindCircle(HObject img)
        {
            HTuple  Row         = new HTuple();
            HTuple  Col         = new HTuple();
            HTuple  Distance    = new HTuple();
            HTuple  outRow      = new HTuple();
            HTuple  outCol      = new HTuple();
            HTuple  outAmp      = new HTuple();
            HTuple  outDistance = new HTuple();
            HRegion regionCount = new HRegion();

            regionCount.GenEmptyRegion();
            HXLDCont contour = new HXLDCont();

            if (img == null)
            {
                return(false);
            }
            HTuple imgWidth, imgHeight;
            HTuple hms = null;

            HOperatorSet.GetImageSize(img, out imgWidth, out imgHeight);

            double xCenter, yCenter, Center_radius, angle, angleSplit;

            angle = 0;
            //分割角度
            angleSplit    = 2 * 3.1415926 / (Hnum);
            xCenter       = in_col[0].D + data_col;
            yCenter       = in_row[0].D + data_row;
            Center_radius = in_radius[0].D;

            HHomMat2D hom = new HHomMat2D();

            hom.HomMat2dIdentity();
            hom = hom.HomMat2dRotate(angleSplit, yCenter, xCenter);
            double rect_row, rect_col, angleStart, L1, L2;

            //分割矩形的中心坐标
            rect_row = yCenter;
            rect_col = xCenter + Center_radius;
            L1       = HLengh[0].D / 2;
            L2       = Hwid[0].D / 2;
            if (Hdirection != "in2out")
            {
                //由外向内
                angleStart = angle + (new HTuple(180)).TupleRad();
            }
            else
            {
                angleStart = angle;
            }

            for (int i = 0; i < Hnum[0].I; ++i)
            {
                if (m_bShowRectang2)
                {
                    contour.Dispose();
                    contour.GenRectangle2ContourXld(rect_row, rect_col, angleStart + angleSplit * i, L1, L2);
                    HRegion region;
                    region      = contour.GenRegionContourXld("margin");
                    regionCount = regionCount.Union2(region);
                    region.Dispose();
                }
                try
                {//out_row, out_col, out_radius;
                    HOperatorSet.GenMeasureRectangle2(rect_row, rect_col, angleStart + angleSplit * i, L1,
                                                      L2, imgWidth, imgHeight, "nearest_neighbor", out hms);
                    HOperatorSet.MeasurePos(img, hms, Hsomth, Hamp, Htransition, Hselect,
                                            out outRow, out outCol, out outAmp, out outDistance);
                }
                catch { continue; }
                if (Hselect == "all" && outRow.Length > 1)
                {
                    HTuple hIndex = outAmp.TupleSortIndex();
                    int    nMax   = hIndex[hIndex.Length - 1];
                    Row.Append(outRow[nMax]);
                    Col.Append(outCol[nMax]);
                }
                else
                {
                    Row.Append(outRow);
                    Col.Append(outCol);
                }
                hom.AffineTransPixel(rect_row, rect_col, out rect_row, out rect_col);
            }
            HOperatorSet.CloseMeasure(hms);
            if (m_bShowRectang2)
            {
                m_hRectang2.Dispose();
                m_hRectang2 = regionCount.GenContoursSkeletonXld(1, "filter");
            }
            if (Row.Length > Hnum[0].D / 3)
            {
                HXLDCont counter = new HXLDCont();
                counter.GenContourPolygonXld(Row, Col);

                HTuple startphi, endphi;
                HTuple pointorder;
                counter.FitCircleContourXld("atukey", -1, 0, 0, 3, 2,
                                            out out_row, out out_col, out out_radius, out startphi, out endphi, out pointorder);

                HTuple rowDrop = new HTuple();
                HTuple colDrop = new HTuple();
                if (Row.Length - 5 > m_nNumDropPoints && m_nNumDropPoints > 0)
                {
                    HTuple distance = new HTuple();
                    for (int i = 0; i < Row.Length; ++i)
                    {
                        double dis = HMisc.DistancePp(Row[i], Col[i], xCenter, yCenter);
                        distance.Append(Math.Abs(dis - Center_radius));
                    }
                    HTuple index = distance.TupleSortIndex();
                    index = index.TupleInverse();
                    for (int i = 0; i < m_nNumDropPoints; ++i)
                    {
                        int n = index[i];
                        rowDrop.Append(Row[n]);
                        colDrop.Append(Col[n]);
                    }
                    index = index.TupleFirstN(m_nNumDropPoints - 1);
                    Row   = Row.TupleRemove(index);
                    Col   = Col.TupleRemove(index);

                    counter.GenContourPolygonXld(Row, Col);
                    counter.FitCircleContourXld("atukey", -1, 0, 0, 3, 2,
                                                out out_row, out out_col, out out_radius, out startphi, out endphi, out pointorder);
                }
                m_hCircle.Dispose();
                m_centerCross.Dispose();
                if (m_bShowCircle)
                {
                    HOperatorSet.GenCrossContourXld(out m_centerCross, out_row, out_col, (out_radius / 2) + 1, (new HTuple(0)).TupleRad());
                    HOperatorSet.GenCircleContourXld(out m_hCircle, out_row, out_col, out_radius,
                                                     0, 3.1415926 * 2, "positive", 1);
                }
                m_hCross.Dispose();
                if (m_bShowCross)
                {
                    HOperatorSet.GenCrossContourXld(out m_hCross, Row, Col, 17, (new HTuple(45)).TupleRad());
                }

                Result_Array[0] = out_row;
                Result_Array[1] = out_col;
                Result_Array[2] = out_radius;
                return(true);
            }
            return(false);
        }
Exemplo n.º 22
0
            public void FindEdge(HObject image, HTuple row, HTuple column, HTuple radian, out HTuple edgeRow1, out HTuple edgeColumn1, out HTuple edgeRow2, out HTuple edgeColumn2)
            {
                HTuple homMat2D, rowTrans, columnTrans;

                //测量外边缘
                edgeRow1    = 0;
                edgeColumn1 = 0;
                edgeRow2    = 0;
                edgeColumn2 = 0;

                /*
                 * // Local iconic variables
                 *
                 * //HObject ho_Image, ho_ImageEmphasize, ho_ROI_0;
                 * //HObject ho_ImageReduced, ho_ImageScaled, ho_Regions, ho_Connection;
                 * //HObject ho_RegionOpening, ho_RegionClosing, ho_ObjectSelected;
                 * //HObject ho_RegionTrans, ho_ImageMean, ho_ImageResult;
                 *
                 * // Local control variables
                 *
                 * HTuple hv_Area = null, hv_Row = null, hv_Column = null;
                 * HTuple hv_Indices = null, hv_Inverted = null;
                 *
                 * HOperatorSet.ScaleImage(image, out ho_ImageScaled, 4.25, -425);
                 * HOperatorSet.Threshold(ho_ImageScaled, out ho_Regions, 100, 255);
                 * HOperatorSet.OpeningCircle(ho_Regions, out ho_RegionOpening, 3.5);
                 * HOperatorSet.ClosingCircle(ho_RegionOpening, out ho_RegionClosing, 19.5);
                 * HOperatorSet.Connection(ho_RegionClosing, out ho_Connection);
                 * HOperatorSet.AreaCenter(ho_Connection, out hv_Area, out hv_Row, out hv_Column);
                 * HOperatorSet.TupleSortIndex(hv_Area, out hv_Indices);
                 * HOperatorSet.TupleInverse(hv_Indices, out hv_Inverted);
                 * HOperatorSet.SelectObj(ho_Connection, out ho_ObjectSelected, (hv_Inverted.TupleSelect(0)) + 1);
                 * HOperatorSet.ShapeTrans(ho_ObjectSelected, out ho_RegionTrans, "rectangle2");
                 * HOperatorSet.MeanImage(ho_ImageScaled, out ho_ImageMean, 15, 15);
                 * HOperatorSet.PaintRegion(ho_RegionTrans, ho_ImageMean, out ho_ImageResult, 255, "fill");
                 */

                HOperatorSet.GenMeasureRectangle2(row + DisHanldeRow, column /*+ DisHanldeColumn*/, Radian + Math.PI / 2, 20, 40,
                                                  ImageWidth, ImageHeight, Interpolation, out HandleLine);

                for (int i = 0; i <= 5; i++)
                {
                    //设置幅度值
                    HTuple threshold = Threshold - 10 - i * 2;
                    if (threshold < 1)
                    {
                        threshold = 1;
                    }

                    HTuple rows    = new HTuple();
                    HTuple columns = new HTuple();

                    for (int j = 0; j < PinCount; j++)
                    {
                        HTuple rowEdge, columnEdge, amplitude, distance;

                        //变换检测位置
                        //HTuple homMat2D, rowTrans, columnTrans;
                        HOperatorSet.HomMat2dIdentity(out homMat2D);
                        HOperatorSet.HomMat2dTranslate(homMat2D, DisHanldeRow, j * PinDistance, out homMat2D);
                        HOperatorSet.HomMat2dRotate(homMat2D, radian, row, column, out homMat2D);
                        HOperatorSet.AffineTransPixel(homMat2D, row, column, out rowTrans, out columnTrans);

                        HOperatorSet.TranslateMeasure(HandleLine, rowTrans, columnTrans);

                        HOperatorSet.MeasurePos(image, HandleLine, Sigma, threshold, "negative", "first",
                                                out rowEdge, out columnEdge, out amplitude, out distance);

                        //HOperatorSet.MeasurePos(ho_ImageResult, HandleLine, Sigma, threshold, "positive", "first",
                        //    out rowEdge, out columnEdge, out amplitude, out distance);

                        if (rowEdge.Length > 0)
                        {
                            rows.Append(rowEdge);
                            columns.Append(columnEdge);
                        }
                    }

                    if (rows.Length >= PinCount / 2)
                    {
                        //生成轮廓
                        HObject contour;
                        HTuple  nr, nc, dist;
                        HOperatorSet.GenContourPolygonXld(out contour, rows, columns);

                        //拟合
                        HOperatorSet.FitLineContourXld(contour, "tukey", -1, 0, 5, 2,
                                                       out edgeRow1, out edgeColumn1, out edgeRow2, out edgeColumn2,
                                                       out nr, out nc, out dist);

                        //生成直线,用于显示
                        contour?.Dispose();
                        HOperatorSet.GenContourPolygonXld(out contour, new HTuple(edgeRow1, edgeRow2), new HTuple(edgeColumn1, edgeColumn2));
                        HOperatorSet.ConcatObj(LineEdge, contour, out LineEdge);

                        break;
                    }
                }

                HOperatorSet.CloseMeasure(HandleLine);
            }
Exemplo n.º 23
0
        /// <summary>
        /// 在当前图像上按单元配置查找直线
        /// </summary>
        /// <param name="img"></param>
        /// <param name="hFixTool"></param>
        /// <returns></returns>
        public bool FindLine(HObject img)
        {
            m_rowBegin = new HTuple();
            m_colBegin = new HTuple();
            m_rowEnd   = new HTuple();
            m_colEnd   = new HTuple();

            m_hLine.Dispose();
            m_hCross.Dispose();
            m_hCrossDrop.Dispose();
            if (img == null)
            {
                return(false);
            }

            string strSelect = string.Empty;

            if (Hselect == "strongest")
            {
                strSelect = "all";
            }
            else
            {
                strSelect = Hselect;
            }

            HTuple imgWidth, imgHeight;

            HOperatorSet.GetImageSize(img, out imgWidth, out imgHeight);

            m_imageWidth  = imgWidth;
            m_imageHeight = imgHeight;

            double x1, y1, x2, y2;
            HTuple in_phi_t = in_phi + data_from_phi + data_phi * 3.1415926 / 180;
            double angle    = in_phi_t[0].D + 3.1415926 / 2;

            x1 = (in_col + data_col)[0].D + L2 * Math.Cos(angle);
            x2 = (in_col + data_col)[0].D - L2 * Math.Cos(angle);
            y1 = (in_row + data_row)[0].D - L2 * Math.Sin(angle);
            y2 = (in_row + data_row)[0].D + L2 * Math.Sin(angle);

            HHomMat2D hom = new HHomMat2D();

            hom.HomMat2dIdentity();
            hom = hom.HomMat2dTranslate((y2 - y1) / (Hnum - 1), (x2 - x1) / (Hnum - 1));

            double rect_row  = y1;
            double rect_col  = x1;
            double rect_phi  = in_phi_t[0].D;
            double rect_len1 = L1;
            double rect_len2 = (double)Hwid / 2.0;
            HTuple hms       = null;

            HOperatorSet.GenMeasureRectangle2(rect_row, rect_col, rect_phi, rect_len1,
                                              rect_len2, imgWidth, imgHeight, "nearest_neighbor", out hms);

            HTuple  Row         = new HTuple();
            HTuple  Col         = new HTuple();
            HTuple  Distance    = new HTuple();
            HTuple  outRow      = new HTuple();
            HTuple  outCol      = new HTuple();
            HTuple  outAmp      = new HTuple();
            HTuple  outDistance = new HTuple();
            HRegion regionCount = new HRegion();

            regionCount.GenEmptyRegion();
            HXLDCont contour = new HXLDCont();

            for (int i = 0; i < Hnum[0].I; ++i)
            {
                if (m_bShowRectang2)
                {
                    contour.Dispose();
                    contour.GenRectangle2ContourXld(rect_row, rect_col, rect_phi, rect_len1, rect_len2);
                    HRegion region;
                    region      = contour.GenRegionContourXld("margin");
                    regionCount = regionCount.Union2(region);
                }
                try
                {
                    HOperatorSet.MeasurePos(img, hms, Hsomth, Hamp, Htransition, strSelect,
                                            out outRow, out outCol, out outAmp, out outDistance);
                }
                catch { continue; }

                if (strSelect == "all" && outRow.Length > 1)
                {
                    HTuple hIndex = outAmp.TupleSortIndex();
                    int    nMax   = hIndex[hIndex.Length - 1];
                    Row.Append(outRow[nMax]);
                    Col.Append(outCol[nMax]);
                }
                else
                {
                    Row.Append(outRow);
                    Col.Append(outCol);
                }
                hom.AffineTransPixel(rect_row, rect_col, out rect_row, out rect_col);
                HOperatorSet.TranslateMeasure(hms, rect_row, rect_col);
            }
            HOperatorSet.CloseMeasure(hms);
            if (m_bShowRectang2)
            {
                m_hRectang2 = regionCount.GenContoursSkeletonXld(1, "filter");
            }

            if (Row.Length > 1)
            {
                HXLDCont counter = new HXLDCont();
                counter.GenContourPolygonXld(Row, Col);

                HTuple nr, nc, dist;
                counter.FitLineContourXld("tukey", -1, 0, 5, 2,
                                          out m_rowBegin, out m_colBegin, out m_rowEnd, out m_colEnd, out nr, out nc, out dist);

                HTuple rowDrop = new HTuple();
                HTuple colDrop = new HTuple();
                if (Row.Length - 3 > m_nNumDropPoints && m_nNumDropPoints > 0)
                {
                    HTuple distance = new HTuple();

                    for (int i = 0; i < Row.Length; ++i)
                    {
                        double dis = HMisc.DistancePl(Row[i], Col[i], m_rowBegin, m_colBegin, m_rowEnd, m_colEnd);
                        distance.Append(dis);
                    }
                    HTuple index = distance.TupleSortIndex();
                    index = index.TupleInverse();
                    for (int i = 0; i < m_nNumDropPoints; ++i)
                    {
                        int n = index[i];
                        rowDrop.Append(Row[n]);
                        colDrop.Append(Col[n]);
                    }
                    index = index.TupleFirstN(m_nNumDropPoints - 1);
                    Row   = Row.TupleRemove(index);
                    Col   = Col.TupleRemove(index);

                    counter.GenContourPolygonXld(Row, Col);
                    counter.FitLineContourXld("tukey", -1, 0, 5, 2,
                                              out m_rowBegin, out m_colBegin, out m_rowEnd, out m_colEnd, out nr, out nc, out dist);
                }

                if (m_bShowLine)
                {
                    HTuple rrow = new HTuple(m_rowBegin);
                    HTuple ccol = new HTuple(m_colBegin);
                    rrow.Append(m_rowEnd);
                    ccol.Append(m_colEnd);
                    m_hLine.GenContourPolygonXld(rrow, ccol);
                }

                if (m_bShowCross)
                {
                    m_hCross.GenEmptyObj();
                    m_hCross.GenCrossContourXld(Row, Col, 17, (new HTuple(45)).TupleRad());
                }

                if (m_bShowCrossDrop)
                {
                    m_hCrossDrop.GenEmptyObj();
                    m_hCrossDrop.GenCrossContourXld(rowDrop, colDrop, 17, (new HTuple(45)).TupleRad());
                }

                Result_Array[0] = m_rowBegin;
                Result_Array[1] = m_colBegin;
                Result_Array[2] = m_rowEnd;
                Result_Array[3] = m_colEnd;
                return(true);
            }
            return(false);
        }
Exemplo n.º 24
0
        public bool CalibrationMake(SourceBuffer _sourceBuffer, ExecuteBuffer _executeBuffer, out SourceBuffer outsourcebuffer, out ExecuteBuffer outexecutebuffer, HWndCtrl hWndCtrl, out string result_info)
        {
            outsourcebuffer  = _sourceBuffer;
            outexecutebuffer = _executeBuffer;
            result_info      = "";
            HTuple  hv_PixelSize = 0.00001;
            HTuple  hv_Message = new HTuple(), hv_Row = new HTuple();
            HTuple  hv_Column = new HTuple(), hv_Index = new HTuple();
            HTuple  hv_Error = null;
            HObject ho_Contours = null, ho_Cross = null, hv_outimage = null;
            HTuple  hv_HomMat3DIdentity = null;
            HTuple  hv_cp1Hur1 = null, hv_cam2Hcp2 = null, hv_cam2Hul2 = null;
            HTuple  hv_PoseNewOrigin2 = null, hv_ULX = null, hv_ULY = null, hv_PoseNewOrigin = null;

            double[] Get_actual_pixel = new double[7];
            HTuple   WorldPixelx, WorldPixely;
            HTuple   Heightx = new HTuple(), Widthx = new HTuple();

            Heightx.Append(Height / 2);
            Heightx.Append(Height / 2);
            Heightx.Append(Height / 2 + 1);
            Widthx.Append(Width / 2);
            Widthx.Append(Width / 2 + 1);
            Widthx.Append(Width / 2);
            HTuple WorldLength1, WorldLength2;
            HTuple ScaleForSimilarPixelSize = 0;

            HOperatorSet.GenEmptyObj(out ho_Contours);
            HOperatorSet.GenEmptyObj(out ho_Cross);
            HOperatorSet.GenEmptyObj(out hv_outimage);

            if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image.SelectedItem.ToString() + ".img"))
            {
                MessageBox.Show("二值化处理: 输入图像已经不存在,请重置设置输入图像");
                result_info = " 二值化处理: 输入图像已经不存在,请重置设置输入图像";
                return(false);
            }
            if (_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"] == null)
            {
                MessageBox.Show("二值化处理: image参数为空或者未赋值");
                result_info = " 二值化处理: 输入图像已经不存在,请重置设置输入图像";
                return(false);
            }
            string comboBox_imageoutname = this.Output_image.Text.ToString() + ".img";

            if (_executeBuffer.imageBuffer[comboBox_imageoutname] != null)
            {
                if (_executeBuffer.imageBuffer[comboBox_imageoutname].IsInitialized())
                {
                    _executeBuffer.imageBuffer[comboBox_imageoutname].Dispose();
                }
            }
            HTuple width, height;
            int    m = _executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"].CountObj();

            HOperatorSet.GetImageSize(_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"], out width, out height);
            int number = Convert.ToInt32(this.textBox1.Text.ToString());

            if (!this.checkBox1.Checked)
            {
                if (Get_Cal_pixel)
                {
                    Get_Cal_pixel = false;
                }
                if (number == 0)
                {
                    hv_StartCamPar = new HTuple();
                    if (this.checkBox_focalize.Checked)
                    {
                        hv_StartCamPar.Append(0);
                    }
                    else
                    {
                        hv_StartCamPar.Append(Convert.ToDouble(this.textbox_lens.Text.ToString()) / 100);
                    }
                    hv_StartCamPar.Append(0);
                    hv_StartCamPar.Append(Convert.ToDouble(this.textBox_width.Text.ToString()) / 10000000);
                    hv_StartCamPar.Append(Convert.ToDouble(this.textBox_height.Text.ToString()) / 10000000);
                    hv_StartCamPar.Append(width / 2);
                    hv_StartCamPar.Append(height / 2);
                    hv_StartCamPar.Append(width);
                    hv_StartCamPar.Append(height);
                    hv_CalTabDescrFile = this.textBox_file.Text;
                    HOperatorSet.CreateCalibData("calibration_object", 1, 1, out CalibDataID);
                    if (this.checkBox_focalize.Checked)
                    {
                        HOperatorSet.SetCalibDataCamParam(CalibDataID, 0, "area_scan_telecentric_division", hv_StartCamPar);
                    }
                    else
                    {
                        HOperatorSet.SetCalibDataCamParam(CalibDataID, 0, "area_scan_division", hv_StartCamPar);
                    }
                    HOperatorSet.SetCalibDataCalibObject(CalibDataID, 0, hv_CalTabDescrFile);
                }
                try
                {
                    HOperatorSet.FindCalibObject(_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"], CalibDataID, 0, 0, number, new HTuple(), new HTuple());
                    HOperatorSet.GetCalibData(CalibDataID, "camera", 0, "init_params", out hv_StartCamPar);
                    HOperatorSet.GetCalibDataObservPoints(CalibDataID, 0, 0, number, out hv_Row, out hv_Column, out hv_Index, out hv_Pose);
                    HOperatorSet.GetCalibDataObservContours(out ho_Contours, CalibDataID, "caltab", 0, 0, number);
                    HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row, hv_Column, 6, 0.785398);
                    hWndCtrl.changeGraphicSettings(GraphicsContext.GC_COLOR, "orange");
                    hWndCtrl.addIconicVar(ho_Cross);
                    hWndCtrl.addIconicVar(ho_Contours);
                    hWndCtrl.repaint();
                }
                catch
                {
                    MessageBox.Show("找不到标定板");
                    ho_Contours.Dispose();
                    ho_Cross.Dispose();

                    return(false);
                }

                if (number == hv_NumImages - 1)
                {
                    Read_file = false;
                    HOperatorSet.CalibrateCameras(CalibDataID, out hv_Error);
                    HOperatorSet.GetCalibData(CalibDataID, "camera", 0, "params", out hv_CamParam);
                    HOperatorSet.GetCalibData(CalibDataID, "calib_obj_pose", (new HTuple(0)).TupleConcat(6), "pose", out hv_Pose);
                    HOperatorSet.HomMat3dIdentity(out hv_HomMat3DIdentity);
                    HOperatorSet.HomMat3dRotateLocal(hv_HomMat3DIdentity, ((-(hv_Pose.TupleSelect(5)))).TupleRad(), "z", out hv_cp1Hur1);
                    HOperatorSet.PoseToHomMat3d(hv_Pose, out hv_cam2Hcp2);
                    HOperatorSet.HomMat3dCompose(hv_cam2Hcp2, hv_cp1Hur1, out hv_cam2Hul2);
                    HOperatorSet.HomMat3dToPose(hv_cam2Hul2, out hv_PoseNewOrigin2);
                    HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_PoseNewOrigin2, 0, 0, "m", out hv_ULX, out hv_ULY);
                    HOperatorSet.SetOriginPose(hv_PoseNewOrigin2, hv_ULX, hv_ULY, 0, out hv_PoseNewOrigin);

                    HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_Pose, Heightx, Widthx, 1, out WorldPixelx, out WorldPixely);
                    HOperatorSet.DistancePp(WorldPixely[0], WorldPixelx[0], WorldPixely[1], WorldPixelx[1], out WorldLength1);
                    HOperatorSet.DistancePp(WorldPixely[0], WorldPixelx[0], WorldPixely[2], WorldPixelx[2], out WorldLength2);
                    ScaleForSimilarPixelSize = (WorldLength1 + WorldLength2) / 2;
                    HOperatorSet.GenImageToWorldPlaneMap(out ho_MapSingle1, hv_CamParam,
                                                         hv_PoseNewOrigin, width, height, width, height, ScaleForSimilarPixelSize, "bilinear");
                    HOperatorSet.WriteObject(ho_MapSingle1, this.textBox2.Text.ToString());
                    Read_file              = true;
                    Get_Calibration        = true;
                    this.checkBox1.Checked = true;
                    result_info            = " 校正参数: 设置完成";
                }

                this.textBox1.Text = (number + 1).ToString();
            }

            if (this.checkBox1.Checked)
            {
                if (Read_file)
                {
                    if (File.Exists(this.textBox2.Text))
                    {
                        HOperatorSet.ReadObject(out ho_MapSingle1, this.textBox2.Text);
                    }
                    else
                    {
                        MessageBox.Show("校正文件不存在 ,请检查");
                        return(false);
                    }
                }

                HOperatorSet.MapImage(_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"], ho_MapSingle1, out hv_outimage);
                _executeBuffer.imageBuffer[comboBox_imageoutname] = hv_outimage;
                outexecutebuffer = _executeBuffer;
                result_info      = " 校正: 完成";
                HTuple Distance;
                if (!Get_Cal_pixel)
                {
                    try
                    {
                        double all_number = 0;
                        HOperatorSet.FindCalibObject(hv_outimage, CalibDataID, 0, 0, 0, new HTuple(), new HTuple());
                        HOperatorSet.GetCalibDataObservPoints(CalibDataID, 0, 0, 0, out hv_Row, out hv_Column, out hv_Index, out hv_Pose);
                        for (int i = 0; i < 7; i++)
                        {
                            HOperatorSet.DistancePp(hv_Row[i * 7], hv_Column[i * 7], hv_Row[i * 7 + 6], hv_Column[i * 7 + 6], out Distance);
                            Get_actual_pixel[i] = Distance.D;
                            all_number          = all_number + Get_actual_pixel[i];
                        }
                        Pixel_number          = (Convert.ToDouble(this.textBox_pixel.Text)) / (all_number / 7);
                        Get_Cal_pixel         = true;
                        this.label_pixel.Text = Pixel_number.ToString();
                        Pixel_Trans           = Convert.ToDouble(Pixel_number.ToString());
                    }
                    catch
                    {
                        MessageBox.Show("请再次添加图像寻找计算像素比");
                    }
                }
                if (Read_file)
                {
                    ho_MapSingle1.Dispose();
                }
            }



            return(true);
        }
Exemplo n.º 25
0
        public static void GenDefectRegions(Bitmap bitmap, List <Rectangle> rectangles, double radiusOfDilation, out List <SingleDefectRegion> defectRegions)
        {
            defectRegions = new List <SingleDefectRegion>();
            HObject ho_image;
            HObject ho_ConnectedDilations;

            HTuple hv_Row1OfRectangles       = new HTuple();
            HTuple hv_Row2OfRectangles       = new HTuple();
            HTuple hv_Column1OfRectangles    = new HTuple();
            HTuple hv_Column2OfRectangles    = new HTuple();
            HTuple hv_RadiusOfDilation       = new HTuple();
            HTuple hv_IndexOfRectangles      = new HTuple();
            HTuple hv_NumberListOfRectangles = new HTuple();

            // initialation
            HOperatorSet.GenEmptyObj(out ho_image);
            ho_image.Dispose();
            ImageOperateTools.Bitmap8HObjectBpp8(bitmap, out ho_image);
            for (int i = 0; i < rectangles.Count; i++)
            {
                var rectangle = rectangles[i];
                hv_Row1OfRectangles.Append(new HTuple(rectangle.Top));
                hv_Row2OfRectangles.Append(new HTuple(rectangle.Bottom));
                hv_Column1OfRectangles.Append(new HTuple(rectangle.Left));
                hv_Column2OfRectangles.Append(new HTuple(rectangle.Right));
            }
            hv_RadiusOfDilation = radiusOfDilation;
            dilate_regions_pro(ho_image, out ho_ConnectedDilations, hv_Row1OfRectangles, hv_Row2OfRectangles, hv_Column1OfRectangles, hv_Column2OfRectangles, hv_RadiusOfDilation, out hv_IndexOfRectangles, out hv_NumberListOfRectangles);
            List <int> defectInfoIndexList  = new List <int>();
            List <int> defectInfoNumberList = new List <int>();

            if (hv_IndexOfRectangles.TupleLength() > 0 && hv_NumberListOfRectangles.TupleLength() > 0)
            {
                defectInfoIndexList.AddRange(hv_IndexOfRectangles.ToIArr());
                defectInfoNumberList.AddRange(hv_NumberListOfRectangles.ToIArr());
            }
            else
            {
                return;
            }

            HOperatorSet.CountObj(ho_ConnectedDilations, out var hv_NumberOfDilations);
            for (var index = 1; index <= hv_NumberOfDilations; ++index)
            {
                SingleDefectRegion defectRegion = new SingleDefectRegion();
                HOperatorSet.SelectObj(ho_ConnectedDilations, out var ho_Dilation, index);

                // DefectRegion.DefectInfoIndexList
                for (var cnt = 0; cnt < defectInfoNumberList[index - 1]; ++cnt)
                {
                    defectRegion.DefectInfoIndexList.Add(defectInfoIndexList[0]);
                    defectInfoIndexList.RemoveAt(0);
                }

                // DefectRegion.Xldxxx
                convert_single_region_to_points(ho_Dilation, out var hv_posYs, out var hv_posXs, out var hv_pointsNum);
                if (hv_posYs.TupleLength() > 0)
                {
                    defectRegion.XldYs.AddRange(hv_posYs.ToDArr());
                }
                if (hv_posXs.TupleLength() > 0)
                {
                    defectRegion.XldXs.AddRange(hv_posXs.ToDArr());
                }
                if (hv_pointsNum.TupleLength() > 0)
                {
                    defectRegion.XldPointCount.AddRange(hv_pointsNum.ToIArr());
                }

                // DefectRegion.SmallestRect
                HOperatorSet.SmallestRectangle1(ho_Dilation, out var hv_Row1, out var hv_Column1, out var hv_Row2, out var hv_Column2);
                defectRegion.SmallestRect = Rectangle.FromLTRB(hv_Column1.I, hv_Row1.I, hv_Column2.I, hv_Row2.I);

                defectRegions.Add(defectRegion);
            }

            return;
        }
Exemplo n.º 26
0
        /// <summary>
        /// 已测试
        /// 软触发拍照下,计算相机的uv->xy坐标系变换的操作,如large相机
        /// 要求之前设置好相机/光源/触发至“合理”状态
        /// [x]   =   [ H1  H2  H3  ]    [u]
        /// [y]   =   [ H4  H5  H6  ] *  [v]
        ///                              [1]
        /// </summary>
        /// <param name="matUV2XY">uv->xy变换矩阵,将2*3的矩阵按照行堆叠的方式存储为1*6的数组, ref传递方式,需要数组有一个初始值</param>
        /// <param name="cam">相机控制类,注意曝光时间需要设置合适。软触发拍照建议曝光时间在100ms左右</param>
        /// <param name="modelID">匹配的ncc模板</param>
        /// <param name="score_thresh">匹配分数,需要大于0.5</param>
        /// <param name="axisPara">运动轴信息(xy插补),具体包括轴速,加速度</param>
        /// <param name="initPoint">初始点,中间仅适用了xy信息,需要保证走到初始点时室内内包含完整的,可匹配的model</param>
        /// <param name="lightInd">软触发拍照对应的光源id,需要事先设置好对应光源合适的时间</param>
        /// <param name="axisInd">x,y轴号</param>
        /// <param name="xyRange">计算变换时,以初始点为中心,随机走位的范围,单位mm</param>
        /// <param name="nPoints">随机走位多少个点</param>
        /// <param name="lightDelay">软触发拍照光源的延迟,单位us,典型值10us</param>
        /// <param name="timeOut">单次运动的延迟,单位ms</param>
        /// <param name="winID">(调试用)显示窗口ID</param>
        /// <returns>操作是否成功</returns>
        public bool calibUV2XY
        (
            int camInd,
            ref HTuple matUV2XY,
            Model model,
            double xyRange,
            int nPoints = 20
        )

        {
            //if (model.ReadModel(CalibrUV2XYModelPath) == false)
            //{
            //    HTUi.PopError("加载标定模版失败!");
            //    return false;
            //}
            string errMsg = "";

            if (_station.operation.MultiAxisMove(_station.AxisXYZ, new double[] { _xUv2xy, _yUv2xy, _zUv2xy }, true, out errMsg) != 0)
            {
                HTUi.PopError("无法移动至标定点位置!");
                return(false);
            }
            Thread.Sleep(200);
            //  App.obj_light.FlashMultiLight(LightUseFor.ScanPoint1st);

            //if(_station.operation.SWPosTrig(_station.AxisX,out errMsg)!=0)
            //{
            //    HTUi.PopError(errMsg);
            //    return false;
            //}

            Thread.Sleep(10);
            if (image != null)
            {
                image.Dispose();
            }
            HOperatorSet.GenEmptyObj(out image);

            if (_station.operation.CaputreOneImage(_station.CamereDev[camInd], "Halcon", out image, out errMsg) != 0)
            {
                HTUi.PopError("采集图像失败:" + errMsg);
                return(false);
            }

            //3. match
            HTuple  u, v, angle;
            bool    status     = matchModel(camInd, ref image, model, out u, out v, out angle);
            HObject showRegion = new HObject();

            showRegion.Dispose();
            HOperatorSet.GenCrossContourXld(out showRegion, u, v, 512, 0);
            _station._rtUi._fm.ShowImage(_station._rtUi._fm.htWindowCalibration, image, showRegion);
            //image.Dispose();
            if (!status)
            {
                HTUi.PopError("获取匹配初始位置图像失败");
                return(false);
            }
            HTuple xArr = new HTuple(), yArr = new HTuple(), uArr = new HTuple(), vArr = new HTuple();
            Random rand = new Random();

            //4. for ... snap , match, add <u,v,x,y>
            for (int i = 0; i < nPoints; i++)
            {
                DateTime t1 = DateTime.Now;
                //大于或等于 0.0 且小于 1.0 的双精度浮点数
                double x = (rand.NextDouble() - 0.5) * xyRange + _xUv2xy;
                double y = (rand.NextDouble() - 0.5) * xyRange + _yUv2xy;

                if (_station.operation.MultiAxisMove(new string[] { _station.AxisXYZ[0], _station.AxisXYZ[1], }, new double[] { x, y }, true, out errMsg) != 0)
                {
                    HTUi.PopError("无法移动至标定点位置!");
                    return(false);
                }

                Thread.Sleep(200);;

                //if (_station.operation.SWPosTrig(_station.AxisX, out errMsg) != 0)
                //{
                //    HTUi.PopError(errMsg);
                //    return false;
                //}

                Thread.Sleep(10);
                if (image != null)
                {
                    image.Dispose();
                }
                HOperatorSet.GenEmptyObj(out image);

                if (_station.operation.CaputreOneImage(_station.CamereDev[camInd], "Halcon", out image, out errMsg) != 0)
                {
                    HTUi.PopError("采集图像失败:" + errMsg);
                    return(false);
                }

                if (matchModel(camInd, ref image, model, out u, out v, out angle)) //found something
                {
                    xArr.Append(x); yArr.Append(y); uArr.Append(u); vArr.Append(v);
                }
                showRegion.Dispose();
                HOperatorSet.GenCrossContourXld(out showRegion, u, v, 512, 0);
                _station._rtUi._fm.ShowImage(_station._rtUi._fm.htWindowCalibration, image, showRegion);
                //image.Dispose();
            }
            if (xArr.Length < 10)
            {
                HTUi.PopError("有效点数不够");
                return(false);
            }
            //5. least square estimation
            Matrix <double> In = Matrix <double> .Build.Dense(3, xArr.Length, 1.0); //by default In[2,:] = 1.0

            Matrix <double> Out = Matrix <double> .Build.Dense(2, xArr.Length);

            Out.SetRow(0, xArr.ToDArr());
            Out.SetRow(1, yArr.ToDArr());
            In.SetRow(0, uArr.ToDArr());
            In.SetRow(1, vArr.ToDArr());
            Matrix <double> A = vec2Mat(In, Out);

            //6. move to center of uv space
            double[] aArr = A.ToRowWiseArray(); //need to be tested
            _station._calibrationUV2XYParameter = string.Join(",", aArr.ToArray());
            //parse
            if (matUV2XY == null)
            {
                matUV2XY = new HTuple();
            }
            for (int i = 0; i < 6; i++)
            {
                matUV2XY.Append(aArr[i]);
            }
            return(true);
        }
Exemplo n.º 27
0
        public override bool process(HTuple window, HObject img)
        {
            try
            {
                #region 9点标定

                if (PointCount <= 9)
                {
                    if (PointCount != 9)
                    {
                        Result_Array[0] = (PointCount % 3 - 1) * OffsetXY; //x偏移量
                        Result_Array[1] = (PointCount / 3 - 1) * OffsetXY; //y偏移量
                        Result_Array[2] = 0;                               //angle偏移量
                        Result_Array[3] = 1;                               //标定状态  -1——标定失败,0——标定成功,1——9点标定,2——旋转中心标定
                    }

                    if (PointCount++ == 0)
                    {
                        ClearData();
                        return(true);
                    }

                    Refresh_in();

                    if (in_pixel_row.Length == 9)
                    {
                        HTuple qx, qy;
                        HOperatorSet.VectorToHomMat2d(in_pixel_column, in_pixel_row, in_world_x, in_world_y, out HomMat2D);
                        HOperatorSet.AffineTransPoint2d(HomMat2D, in_pixel_column, in_pixel_row, out qx, out qy);

                        XMaxDeviation = qx.TupleSub(in_world_x).TupleAbs().TupleMax();
                        YMaxDeviation = qy.TupleSub(in_world_y).TupleAbs().TupleMax();

                        if (!EnableRotateCenter)
                        {
                            HomMat2D.WriteTuple(CalibDataFileName.Replace("\\", "/"));

                            SaveConfig();

                            Result_Array[0] = 0;
                            Result_Array[1] = 0;
                            Result_Array[2] = 0;
                            Result_Array[3] = 0;

                            PointCount = 0;

                            return(true);
                        }
                    }
                }

                #endregion


                #region 旋转中心标定

                if (EnableRotateCenter && PointCount > 9)
                {
                    if (PointCount <= 15)
                    {
                        Result_Array[0] = 0;
                        Result_Array[1] = 0;
                        Result_Array[2] = (AngleRange * 1.0 / 5) * (PointCount - 10);
                        Result_Array[3] = 2;

                        if (PointCount++ == 10)
                        {
                            return(true);
                        }
                    }

                    Refresh_in();

                    if (in_pixel_row.Length == 15)
                    {
                        HObject contour;
                        HTuple  radius, startPhi, endPhi, pointOrder;
                        HTuple  row = in_pixel_row.TupleSelectRange(9, 14);
                        HTuple  col = in_pixel_column.TupleSelectRange(9, 14);

                        HOperatorSet.GenContourPolygonXld(out contour, row, col);

                        HOperatorSet.FitCircleContourXld(contour, "algebraic", -1, 0, 0, 3, 2,
                                                         out CenterRow, out CenterColumn, out radius, out startPhi, out endPhi, out pointOrder);


                        HOperatorSet.GenCircleContourXld(out contour, CenterRow, CenterColumn, radius, 0, 6.28318, "positive", 1);

                        HOperatorSet.DistancePc(contour, row, col, out DistanceMin, out DistanceMax);

                        HomMat2D.Append(CenterRow);
                        HomMat2D.Append(CenterColumn);
                        HomMat2D.WriteTuple(CalibDataFileName.Replace("\\", "/"));

                        SaveConfig();

                        Result_Array[0] = 0;
                        Result_Array[1] = 0;
                        Result_Array[2] = 0;
                        Result_Array[3] = 0;

                        PointCount = 0;

                        return(true);
                    }
                }

                #endregion

                return(true);
            }
            catch (Exception)
            {
                PointCount = 0;

                Result_Array[0] = 0;
                Result_Array[1] = 0;
                Result_Array[2] = 0;
                Result_Array[3] = -1;

                return(false);
            }
        }
Exemplo n.º 28
0
        private async void btnSaveCalibModel2D_Click(object sender, EventArgs e)
        {
            if (!this.mTmpFrm.tmpResult.createTmpOK)
            {
                HTUi.PopError("创建标定模板失败!");
                return;
            }
            Form_Wait.ShowForm();
            bool result = await Task.Run(() =>
            {
                try
                {
                    this.aoiModels = new Model();
                    this.aoiModels.Dispose();
                    this.aoiModels.showContour = this.mTmpFrm.tmpResult.showContour.CopyObj(1, -1);
                    this.aoiModels.defRows     = this.mTmpFrm.tmpResult.defRows;
                    this.aoiModels.defCols     = this.mTmpFrm.tmpResult.defCols;
                    this.aoiModels.modelType   = this.mTmpFrm.tmpResult.modelType;
                    this.aoiModels.modelID     = Vision.CopyModel(this.mTmpFrm.tmpResult.modelID, this.mTmpFrm.tmpResult.modelType);
                    this.aoiModels.scoreThresh = this.mTmpFrm.mte_TmpPrmValues.Score;
                    this.aoiModels.angleStart  = this.mTmpFrm.mte_TmpPrmValues.AngleStart;
                    this.aoiModels.angleExtent = this.mTmpFrm.mte_TmpPrmValues.AngleExtent;
                    //保存至硬盘
                    string folderPath             = _station.SystemUV2XYDir + "\\Camera_" + _station.SelectedIndex;
                    _station.CalibrUV2XYModelPath = folderPath;
                    if (!this.aoiModels.WriteModel(folderPath))
                    {
                        HTLog.Error("保存标定模板失败!");
                        HTUi.PopError("保存标定模板失败!");
                        return(false);
                    }

                    string errMsg = "";
                    Pos_Uv2Xy     = new HTuple();
                    double xUV2xy = 0, yUV2xy = 0, zUV2xy = 0;

                    if (!_station.GetAxisPosition(_station.AxisXYZ[0], out xUV2xy, out errMsg))
                    {
                        HTLog.Error(errMsg + ":保存获取X轴反馈坐标失败!");
                        HTUi.PopError(errMsg + ":保存获取X轴反馈坐标失败!");
                        return(false);
                    }

                    if (!_station.GetAxisPosition(_station.AxisXYZ[1], out yUV2xy, out errMsg))
                    {
                        HTLog.Error(errMsg + ":保存获取Y轴反馈坐标失败!");
                        HTUi.PopError(errMsg + ":保存获取Y轴反馈坐标失败!");
                        return(false);
                    }

                    if (!_station.GetAxisPosition(_station.AxisXYZ[2], out zUV2xy, out errMsg))
                    {
                        HTLog.Error(errMsg + ":保存获取Z轴反馈坐标失败!");
                        HTUi.PopError(errMsg + ":保存获取Z轴反馈坐标失败!");
                        return(false);
                    }

                    _station.operation.YUv2xy = yUV2xy;
                    _station.operation.XUv2xy = xUV2xy;
                    _station.operation.ZUv2xy = zUV2xy;

                    Pos_Uv2Xy.Append(_station.operation.XUv2xy);
                    Pos_Uv2Xy.Append(_station.operation.YUv2xy);
                    Pos_Uv2Xy.Append(_station.operation.ZUv2xy);
                    HOperatorSet.WriteTuple(Pos_Uv2Xy, folderPath + "\\Pos_Uv2Xy.tup");
                    HTUi.TipHint("保存标定模板成功!");
                    HTLog.Info("保存标定模板成功!");
                    return(true);
                }
                catch (Exception ex)
                {
                    HTLog.Error(ex.ToString());
                    HTUi.PopError(ex.ToString());

                    return(false);
                }
            });

            Form_Wait.CloseForm();
            if (!result)
            {
                HTLog.Error("保存标定模板失败!");
                HTUi.PopError("保存标定模板失败!");
                return;
            }
            HTUi.TipHint("保存标定模板成功!");
            HTLog.Info("保存标定模板成功!");
        }
Exemplo n.º 29
0
        /// <summary>
        /// 图像匹配函数,测试使用,可重新编写
        /// 只实现了简单ncc匹配,不支持roi内匹配,只能匹配一个目标
        /// </summary>
        /// <param name="image">输入图像</param>
        /// <param name="model">模型</param>
        /// <param name="u">返回匹配行坐标,pixel,如果失败为null</param>
        /// <param name="v">返回匹配列坐标,pixel,如果失败为null</param>
        /// <param name="angle">返回匹配角度,弧度,如果失败为null</param>
        /// <returns>是否匹配成功</returns>
        public bool matchModel(int camInd, ref HObject image, Model model, out HTuple u, out HTuple v, out HTuple angle)
        {
            //HTuple _u = new HTuple(), _v = new HTuple(), _angle = new HTuple();
            //bool matched =  matchModel(image, model.modelID, model.scoreThresh.D, out _u, out _v, out _angle);
            //u = _u; v = _v; angle = _angle;
            //return matched;
            u     = null;
            v     = null;
            angle = null;
            try
            {
                HTuple scores = new HTuple();
                // HTuple a = new HTuple(); HTuple b = new HTuple();

                HTuple  us = new HTuple(), vs = new HTuple();
                HTuple  score;
                HObject cross = null;
                HOperatorSet.GenEmptyObj(out cross);

                HObject updateShowCont = null;
                HOperatorSet.GenEmptyObj(out updateShowCont);
                HTuple  updateDefRow = new HTuple(), updateDefCol = new HTuple(), hom2d, iFlag = new HTuple();
                HObject matchRegion = (model.matchRegion != null && model.matchRegion.IsInitialized()) ? model.matchRegion : image;
                //HOperatorSet.FindNccModel(image, modelID, -0.39, 0.78, 0.5, 1, 0.5, "true", 0, out u, out v, out angle, out score);
                //模版句柄
                for (int i = 0; i < model.modelID.Length; i++)
                {
                    updateShowCont.Dispose();

                    HOperatorSet.GenEmptyObj(out model.showContour);
                    //匹配起始角度为-1rad,范围为2rad,阈值为0.5
                    ToolKits.FunctionModule.Vision.find_model(image, matchRegion, model.showContour, out updateShowCont, model.modelType, model.modelID[i], -0.1, 0.2,
                                                              0.5, 1, model.defRows[i], model.defCols[i], out u, out v, out angle, out score, out updateDefRow, out updateDefCol,
                                                              out hom2d, out iFlag);

                    if (iFlag.I == 0)
                    {
                        scores.Append(score);
                        us.Append(updateDefRow);
                        vs.Append(updateDefCol);
                    }
                    else
                    {
                        us.Append(0);
                        vs.Append(0);
                        scores.Append(0);
                        updateShowCont.Dispose();
                        cross.Dispose();
                        return(false);
                    }
                }
                HTuple sortInd;
                //排数 从小到大
                HOperatorSet.TupleSortIndex(scores, out sortInd);
                //sortInd ???
                HTuple maxInd = sortInd[sortInd.Length - 1];
                score = scores[maxInd];
                bool status = false;
                //double
                if (score.D < 0.01)
                {
                    u     = null;
                    v     = null;
                    angle = null;
                    return(false);
                }
                else
                {
                    u      = us[maxInd];
                    v      = vs[maxInd];
                    angle  = 0;
                    status = true;
                }
                if (this.GrabImageDoneHandler != null && camInd >= 0)
                {
                    //Show _show = new Show();
                    //_show.CamInd = camInd;
                    //_show.Image = image.CopyObj(1, -1);
                    //_show.Mode = 2;
                    //_show.Row = status ? u.D : 0;
                    //_show.Column = status ? v.D : 0;
                    //;
                    //this.GrabImageDoneHandler(null, _show);
                }
                HOperatorSet.GenCrossContourXld(out cross, updateDefRow, updateDefCol, 300, 0);
                //App.mainWindow.ShowImage(frmCalibration.Instance.htWindowCalibration, image, cross);
                if (ImageSrc != null)
                {
                    ImageSrc.Dispose();
                }
                HOperatorSet.GenEmptyObj(out ImageSrc);
                //for (int i = 0; i < imageNum; i++)
                //{
                //    //从acq里取图并保存图片,行号-列号.tiff
                HOperatorSet.SelectObj(image, out ImageSrc, 1);
                ////frmCalibration.Instance.ShowImage(frmCalibration.Instance.htWindowCalibration, image, cross);
                _station._rtUi._fm.ShowImage(_station._rtUi._fm.htWindowCalibration, ImageSrc, cross);
                //HOperatorSet.WriteContourXldDxf(updateShowCont, "D://CONT");
                //htWindow.RefreshWindow(image, cross, "");
                cross.Dispose();
                updateShowCont.Dispose();
                return(status);
            }
            catch (HalconException EXP)
            {
                string errMsg = EXP.Message;
                return(false);
            }
        }
Exemplo n.º 30
0
        public bool Puzzle_tezheng(ExecuteBuffer _executeBuffer, out ExecuteBuffer outexecutebuffer, out string result_info, Dictionary <int, PointName> Pointlist)
        {
            outexecutebuffer = _executeBuffer;
            result_info      = "";
            HObject image1, image2, image3, image4, image5, image6, image7, image8, image9;

            double X_shu = Convert.ToDouble(this.textBox_x.Text.ToString()) / Convert.ToDouble(this.textBox_bi.Text.ToString());
            double Y_shu = Convert.ToDouble(this.textBox_y.Text.ToString()) / Convert.ToDouble(this.textBox_bi.Text.ToString());

            if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image1.SelectedItem.ToString() + ".img"))
            {
                MessageBox.Show("二值化处理: 输入图像1已经不存在,请重置设置输入图像");
                result_info = " 二值化处理: 输入图像1已经不存在,请重置设置输入图像";
                return(false);
            }
            if (_executeBuffer.imageBuffer[this.Input_image1.SelectedItem.ToString() + ".img"] == null)
            {
                MessageBox.Show("二值化处理: image1参数为空或者未赋值");
                result_info = " 二值化处理: 输入图像1已经不存在,请重置设置输入图像";
                return(false);
            }

            if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image2.SelectedItem.ToString() + ".img"))
            {
                MessageBox.Show("二值化处理: 输入图像2已经不存在,请重置设置输入图像");
                result_info = " 二值化处理: 输入图像2已经不存在,请重置设置输入图像";
                return(false);
            }
            if (_executeBuffer.imageBuffer[this.Input_image2.SelectedItem.ToString() + ".img"] == null)
            {
                MessageBox.Show("二值化处理: image2参数为空或者未赋值");
                result_info = " 二值化处理: 输入图像2已经不存在,请重置设置输入图像";
                return(false);
            }
            if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image3.SelectedItem.ToString() + ".img"))
            {
                MessageBox.Show("二值化处理: 输入图像3已经不存在,请重置设置输入图像");
                result_info = " 二值化处理: 输入图像3已经不存在,请重置设置输入图像";
                return(false);
            }
            if (_executeBuffer.imageBuffer[this.Input_image3.SelectedItem.ToString() + ".img"] == null)
            {
                MessageBox.Show("二值化处理: image3参数为空或者未赋值");
                result_info = " 二值化处理: 输入图像3已经不存在,请重置设置输入图像";
                return(false);
            }
            if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image4.SelectedItem.ToString() + ".img"))
            {
                MessageBox.Show("二值化处理: 输入图像4已经不存在,请重置设置输入图像");
                result_info = " 二值化处理: 输入图像4已经不存在,请重置设置输入图像";
                return(false);
            }
            if (_executeBuffer.imageBuffer[this.Input_image4.SelectedItem.ToString() + ".img"] == null)
            {
                MessageBox.Show("二值化处理: image4参数为空或者未赋值");
                result_info = " 二值化处理: 输入图像4已经不存在,请重置设置输入图像";
                return(false);
            }
            if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image5.SelectedItem.ToString() + ".img"))
            {
                MessageBox.Show("二值化处理: 输入图像5已经不存在,请重置设置输入图像");
                result_info = " 二值化处理: 输入图像5已经不存在,请重置设置输入图像";
                return(false);
            }
            if (_executeBuffer.imageBuffer[this.Input_image5.SelectedItem.ToString() + ".img"] == null)
            {
                MessageBox.Show("二值化处理: image5参数为空或者未赋值");
                result_info = " 二值化处理: 输入图像5已经不存在,请重置设置输入图像";
                return(false);
            }
            if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image6.SelectedItem.ToString() + ".img"))
            {
                MessageBox.Show("二值化处理: 输入图像6已经不存在,请重置设置输入图像");
                result_info = " 二值化处理: 输入图像6已经不存在,请重置设置输入图像";
                return(false);
            }
            if (_executeBuffer.imageBuffer[this.Input_image6.SelectedItem.ToString() + ".img"] == null)
            {
                MessageBox.Show("二值化处理: image6参数为空或者未赋值");
                result_info = " 二值化处理: 输入图像6已经不存在,请重置设置输入图像";
                return(false);
            }
            if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image7.SelectedItem.ToString() + ".img"))
            {
                MessageBox.Show("二值化处理: 输入图像7已经不存在,请重置设置输入图像");
                result_info = " 二值化处理: 输入图像7已经不存在,请重置设置输入图像";
                return(false);
            }
            if (_executeBuffer.imageBuffer[this.Input_image7.SelectedItem.ToString() + ".img"] == null)
            {
                MessageBox.Show("二值化处理: image7参数为空或者未赋值");
                result_info = " 二值化处理: 输入图像7已经不存在,请重置设置输入图像";
                return(false);
            }
            if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image8.SelectedItem.ToString() + ".img"))
            {
                MessageBox.Show("二值化处理: 输入图像8已经不存在,请重置设置输入图像");
                result_info = " 二值化处理: 输入图像8已经不存在,请重置设置输入图像";
                return(false);
            }
            if (_executeBuffer.imageBuffer[this.Input_image8.SelectedItem.ToString() + ".img"] == null)
            {
                MessageBox.Show("二值化处理: image8参数为空或者未赋值");
                result_info = " 二值化处理: 输入图像8已经不存在,请重置设置输入图像";
                return(false);
            }
            if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image9.SelectedItem.ToString() + ".img"))
            {
                MessageBox.Show("二值化处理: 输入图像9已经不存在,请重置设置输入图像");
                result_info = " 二值化处理: 输入图像9已经不存在,请重置设置输入图像";
                return(false);
            }
            if (_executeBuffer.imageBuffer[this.Input_image9.SelectedItem.ToString() + ".img"] == null)
            {
                MessageBox.Show("二值化处理: image9参数为空或者未赋值");
                result_info = " 二值化处理: 输入图像9已经不存在,请重置设置输入图像";
                return(false);
            }
            string comboBox_imageoutname = this.Output_image.Text.ToString() + ".img";

            if (_executeBuffer.imageBuffer[comboBox_imageoutname] != null)
            {
                if (_executeBuffer.imageBuffer[comboBox_imageoutname].IsInitialized())
                {
                    _executeBuffer.imageBuffer[comboBox_imageoutname].Dispose();
                }
            }
            HObject imagex;

            HOperatorSet.GenEmptyObj(out imagex);
            //    image1 = _executeBuffer.imageBuffer[this.Input_image1.SelectedItem.ToString() + ".img"];
            HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image1.SelectedItem.ToString() + ".img"], out image1);
            HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image2.SelectedItem.ToString() + ".img"], out image2);
            HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image3.SelectedItem.ToString() + ".img"], out image3);
            HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image4.SelectedItem.ToString() + ".img"], out image4);
            HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image5.SelectedItem.ToString() + ".img"], out image5);
            HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image6.SelectedItem.ToString() + ".img"], out image6);
            HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image7.SelectedItem.ToString() + ".img"], out image7);
            HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image8.SelectedItem.ToString() + ".img"], out image8);
            HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image9.SelectedItem.ToString() + ".img"], out image9);

            /*
             * image2 = _executeBuffer.imageBuffer[this.Input_image2.SelectedItem.ToString() + ".img"];
             * image3 = _executeBuffer.imageBuffer[this.Input_image3.SelectedItem.ToString() + ".img"];
             * image4 = _executeBuffer.imageBuffer[this.Input_image4.SelectedItem.ToString() + ".img"];
             * image5 = _executeBuffer.imageBuffer[this.Input_image5.SelectedItem.ToString() + ".img"];
             * image6 = _executeBuffer.imageBuffer[this.Input_image6.SelectedItem.ToString() + ".img"];
             * image7 = _executeBuffer.imageBuffer[this.Input_image7.SelectedItem.ToString() + ".img"];
             * image8 = _executeBuffer.imageBuffer[this.Input_image8.SelectedItem.ToString() + ".img"];
             * image9 = _executeBuffer.imageBuffer[this.Input_image9.SelectedItem.ToString() + ".img"];
             * */
            HOperatorSet.ConcatObj(imagex, image1, out imagex);
            HOperatorSet.ConcatObj(imagex, image2, out imagex);
            HOperatorSet.ConcatObj(imagex, image3, out imagex);
            HOperatorSet.ConcatObj(imagex, image4, out imagex);
            HOperatorSet.ConcatObj(imagex, image5, out imagex);
            HOperatorSet.ConcatObj(imagex, image6, out imagex);
            HOperatorSet.ConcatObj(imagex, image7, out imagex);
            HOperatorSet.ConcatObj(imagex, image8, out imagex);
            HOperatorSet.ConcatObj(imagex, image9, out imagex);
            HObject ho_TiledImage;

            HOperatorSet.GenEmptyObj(out ho_TiledImage);
            HTuple width, height;

            HOperatorSet.GetImageSize(image1, out width, out height);
            HTuple Pal_1 = new HTuple(), Pal_2 = new HTuple(), Pal_3 = new HTuple();

            for (int i = 0; i < 9; i++)
            {
                Pal_3.Append(-1);
                if (i % 3 == 0)
                {
                    Pal_2.Append(0);
                }
                else if (i % 3 == 1)
                {
                    Pal_2.Append(width + 20);
                }
                else
                {
                    Pal_2.Append(2 * width + 40);
                }
                if ((int)i / 3 < 1)
                {
                    Pal_1.Append(0);
                }
                else if ((int)i / 3 < 2)
                {
                    Pal_1.Append(height + 20);
                }
                else
                {
                    Pal_1.Append(2 * height + 40);
                }
            }

            HOperatorSet.TileImagesOffset(imagex, out ho_TiledImage, Pal_1, Pal_2, Pal_3, Pal_3, Pal_3, Pal_3, (width * 3 + 2 * 20), height * 3 + 2 * 20);
            HTuple From = new HTuple(1, 1, 1, 2, 2, 2, 3, 4, 4, 4, 5, 5, 5, 6);
            HTuple End  = new HTuple(4, 5, 2, 5, 6, 3, 6, 7, 8, 5, 8, 9, 6, 9);

            return(true);
        }