public override HalconDotNet.HObject GetModelRegion()
{
HalconDotNet.HObject rg = new HalconDotNet.HObject();
HalconDotNet.HObject crs = new HalconDotNet.HObject();
crs.Dispose();
HalconDotNet.HOperatorSet.GenCrossContourXld(out crs, _locateRow, _locateCol, 9999, 0);
rg.Dispose();
HalconDotNet.HOperatorSet.GenRegionContourXld(crs, out rg, new HalconDotNet.HTuple("filled"));
crs.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out crs, _locateRow, _locateCol, 0, 5, 5);
HalconDotNet.HOperatorSet.ConcatObj(rg, crs, out rg);
return(rg);
}
private void ContinueGrabBtn_Click(object sender, EventArgs e) //连续采集
{
ContinueGrabBtn.Enabled = false;
IsContinnueGrab = true;
System.Threading.Tasks.Task.Factory.StartNew(new Action(() => {
int i = 0;
while (IsContinnueGrab)
{
i++;
if (GrabedImg != null)
{
GrabedImg.Dispose();
}
if (CameraCtrl.Instance.GrabImg(TeachCamLightPara.CamName, out GrabedImg))
{
view1.Refresh();
view1.AddViewImage(GrabedImg);
view1.Repaint();
}
System.Threading.Thread.Sleep(100);
if (i > 500)
{
break;
}
}
}));
}
public override void Draw(HalconDotNet.HTuple hwndHandle)
{
HalconDotNet.HObject rgCircle = new HalconDotNet.HObject();
rgCircle.Dispose();
HalconDotNet.HOperatorSet.GenCircle(out rgCircle, new HalconDotNet.HTuple(_locateRow), new HalconDotNet.HTuple(_locateCol), new HalconDotNet.HTuple(_radius));
HalconDotNet.HOperatorSet.DispObj(rgCircle, hwndHandle);
HalconDotNet.HObject rec1 = new HalconDotNet.HObject(), rec2 = new HalconDotNet.HObject();
rec1.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out rec1,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec1, hwndHandle);
rec2.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out rec2,
new HalconDotNet.HTuple(_sizeRow),
new HalconDotNet.HTuple(_sizeCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec2, hwndHandle);
}
public override void DisplayActiveHandle(HalconDotNet.HTuple hwndHandle)
{
HalconDotNet.HObject rec = new HalconDotNet.HObject();
rec.Dispose();
switch (ActiveHandleIdx)
{
case 0:
{
HalconDotNet.HOperatorSet.GenRectangle2(out rec,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
}
break;
case 1:
{
HalconDotNet.HOperatorSet.GenRectangle2(out rec,
new HalconDotNet.HTuple(_sizeRow),
new HalconDotNet.HTuple(_sizeCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
}
break;
default:
break;
}
}
/// <summary>
///
/// </summary>
/// <returns></returns>
public override HalconDotNet.HObject GetModelRegion()
{
HalconDotNet.HObject rgInternal = new HalconDotNet.HObject();
rgInternal.Dispose();
HalconDotNet.HOperatorSet.GenCircle(out rgInternal, new HalconDotNet.HTuple(_locateRow), new HalconDotNet.HTuple(_locateCol), new HalconDotNet.HTuple(_radiusInternal));
HalconDotNet.HObject rgExternal = new HalconDotNet.HObject();
rgExternal.Dispose();
HalconDotNet.HOperatorSet.GenCircle(out rgExternal, new HalconDotNet.HTuple(_locateRow), new HalconDotNet.HTuple(_locateCol), new HalconDotNet.HTuple(_radiusExternal));
HalconDotNet.HObject rg = new HalconDotNet.HObject();
rg.Dispose();
//计算圆环区域:半径大的圆与半径小的圆之间的差集
if (_radiusExternal > _radiusInternal)
{
HalconDotNet.HOperatorSet.Difference(rgExternal, rgInternal, out rg);
}
else
{
HalconDotNet.HOperatorSet.Difference(rgInternal, rgExternal, out rg);
}
return(rg);
}
public override void Draw(HalconDotNet.HTuple hwndHandle)
{
HalconDotNet.HObject line = new HalconDotNet.HObject(), rec1 = new HalconDotNet.HObject(), rec2 = new HalconDotNet.HObject();
line.Dispose();
HalconDotNet.HOperatorSet.GenRegionLine(out line,
new HalconDotNet.HTuple(_startRow),
new HalconDotNet.HTuple(_startCol),
new HalconDotNet.HTuple(_extentRow),
new HalconDotNet.HTuple(_extentCol));
HalconDotNet.HOperatorSet.DispObj(line, hwndHandle);
rec1.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out rec1,
new HalconDotNet.HTuple(_startRow),
new HalconDotNet.HTuple(_startCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec1, hwndHandle);
rec2.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out rec2,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec2, hwndHandle);
if (_arrowHandle != null &&
_arrowHandle.IsInitialized())
{
HalconDotNet.HOperatorSet.DispObj(_arrowHandle, hwndHandle);
}
}
public override void DisplayActiveHandle(HalconDotNet.HTuple hwndHandle)
{
HalconDotNet.HObject rec = new HalconDotNet.HObject();
rec.Dispose();
switch (ActiveHandleIdx)
{
//定位圆心
case 0:
{
HalconDotNet.HOperatorSet.GenRectangle2(out rec,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
}
break;
//缩放边点
case 1:
{
HalconDotNet.HOperatorSet.GenRectangle2(out rec,
new HalconDotNet.HTuple(_sizeRow),
new HalconDotNet.HTuple(_sizeCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
}
break;
//弧段起始角点
case 2:
{
HalconDotNet.HOperatorSet.GenRectangle2(out rec,
new HalconDotNet.HTuple(_startRow),
new HalconDotNet.HTuple(_startCol),
new HalconDotNet.HTuple(_startPhi),
new HalconDotNet.HTuple(10),
new HalconDotNet.HTuple(2));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
}
break;
//弧段终止角点(箭头)
case 3:
if (_arrowHandle != null &&
_arrowHandle.IsInitialized())
{
HalconDotNet.HOperatorSet.DispObj(_arrowHandle, hwndHandle);
}
break;
default:
break;
}
}
/// <summary>
/// 窗口1显示的内容
/// [可以自定义显示的内容]
/// </summary>
/// <param name="appProData"></param>
private void Camera0UpdateIconic(ProVisionEbd.Data.AppProcessData appProData)
{
try
{
if (_hwndCtrller0 != null)
{
if (appProData != null)
{
this.Invoke(new System.Windows.Forms.MethodInvoker(() => {
_hwndCtrller0.ClearEntities();
_hwndCtrller0.ClearMessageLineList();
if (_hoImage0 != null &&
_hoImage0.IsInitialized())
{
_hoImage0.Dispose();
}
_hoImage0 = appProData.RawImage.Clone();
_hwndCtrller0.AddHobjEntity(_hoImage0);
_hwndCtrller0.ChangeGraphicSettings(ProVision.InteractiveROI.GraphicContext.GC_COLOR, "yellow");
_hwndCtrller0.AddHobjEntity(appProData.InspetcRegion);
ProVision.Communal.MessageLine msl = new ProVision.Communal.MessageLine();
if (appProData.ImgProcessOK)
{
if (appProData.ImgResultOK)
{
msl.Context = "处理结果满足要求";
msl.CtxColor = "green";
_hwndCtrller0.ChangeGraphicSettings(ProVision.InteractiveROI.GraphicContext.GC_COLOR, "green");
}
else
{
msl.Context = "处理结果不满足要求";
msl.CtxColor = "red";
_hwndCtrller0.ChangeGraphicSettings(ProVision.InteractiveROI.GraphicContext.GC_COLOR, "red");
}
}
else
{
msl.Context = "图像处理异常";
msl.CtxColor = "red";
_hwndCtrller0.ChangeGraphicSettings(ProVision.InteractiveROI.GraphicContext.GC_COLOR, "red");
}
_hwndCtrller0.AddMessageLine(msl);
_hwndCtrller0.AddHobjEntity(appProData.ResultRegion);
_hwndCtrller0.Repaint();
appProData.Dispose();
}));
}
}
}
catch (HalconDotNet.HalconException hex) { }
catch (System.Exception ex) { }
}
public override void Draw(HalconDotNet.HTuple hwndHandle)
{
_circularArc.Dispose();
HalconDotNet.HOperatorSet.GenCircleContourXld(out _circularArc,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(_radius),
new HalconDotNet.HTuple(_startPhi),
new HalconDotNet.HTuple(_startPhi + _extentPhi),
new HalconDotNet.HTuple(_circularArcDir),
new HalconDotNet.HTuple(1.0));
HalconDotNet.HOperatorSet.DispObj(_circularArc, hwndHandle);
HalconDotNet.HObject rec1, rec2, rec3;
HalconDotNet.HOperatorSet.GenRectangle2(out rec1,
new HalconDotNet.HTuple(_sizeRow),
new HalconDotNet.HTuple(_sizeCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec1, hwndHandle);
HalconDotNet.HOperatorSet.GenRectangle2(out rec2,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec2, hwndHandle);
HalconDotNet.HOperatorSet.GenRectangle2(out rec3,
new HalconDotNet.HTuple(_startRow),
new HalconDotNet.HTuple(_startCol),
new HalconDotNet.HTuple(_startPhi),
new HalconDotNet.HTuple(10),
new HalconDotNet.HTuple(2));
HalconDotNet.HOperatorSet.DispObj(rec3, hwndHandle);
if (_arrowHandle != null &&
_arrowHandle.IsInitialized())
{
HalconDotNet.HOperatorSet.DispObj(_arrowHandle, hwndHandle);
}
}
public override void CreateROI(HalconDotNet.HWindow window, double row, double col)
{
HalconDotNet.HObject polygonXLD = new HalconDotNet.HObject();
HalconDotNet.HTuple tmpRows = new HalconDotNet.HTuple();
HalconDotNet.HTuple tmpCols = new HalconDotNet.HTuple();
HalconDotNet.HTuple tmpWights = new HalconDotNet.HTuple();
HalconDotNet.HTuple area = new HalconDotNet.HTuple();
HalconDotNet.HTuple r = new HalconDotNet.HTuple();
HalconDotNet.HTuple c = new HalconDotNet.HTuple();
HalconDotNet.HTuple pointer = new HalconDotNet.HTuple();
try
{
polygonXLD.Dispose();
HalconDotNet.HOperatorSet.DrawNurbs(out polygonXLD, window, "true", "true", "true", "true", 3,
out tmpRows, out tmpCols, out tmpWights);
if (tmpRows.TupleLength() > 0)
{
polygonXLD.Dispose();
HalconDotNet.HOperatorSet.GenContourPolygonXld(out polygonXLD, tmpRows, tmpCols);
HalconDotNet.HOperatorSet.AreaCenterXld(polygonXLD, out area, out r, out c, out pointer);
_locateRow = r[0].D;
_locateCol = c[0].D;
window.DispPolygon(tmpRows, tmpCols);
window.DispRectangle2(_locateRow, _locateCol, 0, 5, 5); //几何中心
this._numHandles = tmpRows.TupleLength() + 1; //几何中心+边点
for (int i = 0; i < tmpRows.TupleLength(); i++)
{
_sizeRows.Add(tmpRows[i].D);
_sizeCols.Add(tmpCols[i].D);
window.DispRectangle2(tmpRows[i].D, tmpCols[i].D, 0, 2, 2);
}
}
}
catch (HalconDotNet.HalconException hex)
{
}
}
public override HalconDotNet.HObject GetModelRegion()
{
HalconDotNet.HObject rg = new HalconDotNet.HObject();
rg.Dispose();
HalconDotNet.HOperatorSet.GenRegionLine(out rg,
new HalconDotNet.HTuple(_startRow),
new HalconDotNet.HTuple(_startCol),
new HalconDotNet.HTuple(_extentRow),
new HalconDotNet.HTuple(_extentCol));
return(rg);
}
protected CameraDriver(ProCommon.Communal.CameraProperty camProperty)
{
if (HoImage != null &&
HoImage.IsInitialized())
{
HoImage.Dispose();
}
HalconDotNet.HOperatorSet.GenEmptyObj(out HoImage);
DriverExceptionDel = new DriverExceptionOccuredDel(OnDriverExceptionOccured);
this.CameraProperty = camProperty;
}
private void CamParaDgv_CellContentClick(object sender, DataGridViewCellEventArgs e)
{
try{
if (e.RowIndex >= 0)
{
//当前行对应的相机参数
CameraPara CurCamPara = (CameraPara)this.CamParaDgv.CurrentRow.DataBoundItem;
if (CurCamPara == null)
{
return;
}
switch (CamParaDgv.Columns[e.ColumnIndex].Name)
{
case "DeleteBtnDgvCol":
if (MessageBox.Show("是否删除该项设备？ ", "删除提示", MessageBoxButtons.YesNo,
MessageBoxIcon.Question) != DialogResult.Yes)
{
return;
}
CameraParaManager.Instance.CameraParaList.Remove(CurCamPara);
break;
case "OpenCamBtnDgvCol":
CameraPara camParaI;
for (int i = 0; i < CameraParaManager.Instance.CameraParaList.Count() - 1; i++)
{
camParaI = CameraParaManager.Instance.CameraParaList[i];
if (CurCamPara.CameraName == camParaI.CameraName)
{
MessageBox.Show("相机已经示教，请重新选择相机");
break;
}
}
CameraCtrl.Instance.Init();
break;
case "GrabImgDgvCol":
ImgOut.Dispose();
CameraCtrl.Instance.GrabImg(CurCamPara.CameraName, out ImgOut);
view.ResetView();
view.AddViewImage(ImgOut);
//view.Refresh();
view.Repaint();
break;
}
this.CamParaDgv.Refresh();
}
}
catch
{ }
}
private void LoadImage()
{
bool isChs = (LanguageVersion == ProCommon.Communal.Language.Chinese);
OpenFileDialog ofd = new OpenFileDialog();
ofd.Multiselect = false;
string txt = isChs ? "图像文件" : "Image File";
string caption = isChs ? "错误信息" : "Error Message";
ofd.Filter = txt + "(*.BMP,*.JPG,*.JPEG,*.TIF)|*.bmp;*.jpg;*.jpeg;*.tif";
ofd.FilterIndex = 0;
txt = isChs ? "请选择一张图像文件" : "Select an image file";
ofd.Title = txt;
if (ofd.ShowDialog() == DialogResult.OK)
{
if (_hoImage != null &&
_hoImage.IsInitialized())
{
_hoImage.Dispose();
}
try
{
if (_HwndCtrller != null)
{
_HwndCtrller.ClearEntities();
if (_ROIManager != null)
{
_ROIManager.ROIList.Clear();
}
HalconDotNet.HOperatorSet.ReadImage(out _hoImage, new HalconDotNet.HTuple(ofd.FileName));
HalconDotNet.HOperatorSet.GetImageSize(_hoImage, out _imgWidth, out _imgHeight);
HalconDotNet.HOperatorSet.SetSystem("tsp_height", _imgHeight);
HalconDotNet.HOperatorSet.SetSystem("tsp_width", _imgWidth);
_HwndCtrller.AddHobjEntity(_hoImage);
_HwndCtrller.Repaint();
}
}
catch (HalconDotNet.HalconException hex)
{
txt = isChs ? "加载图像失败!\r\n" : "Load image failed!\r\n";
ProCommon.DerivedForm.FrmMsgBox.Show(txt + hex.Message, caption,
ProCommon.DerivedForm.MyButtons.OK, ProCommon.DerivedForm.MyIcon.Error, isChs);
}
}
}
protected override bool LoadAlgorithmFile()
{
bool rt = false;
try
{
if (!string.IsNullOrEmpty(Parameter.PathForSaveLocPara))
{
if (_matchModelAssistant != null)
{
if (_matchModelAssistant.LoadShapeModel(Parameter.PathForSaveLocPara))
{
rt = true;
}
else
{
ErrorMessage = IsChinese ? "定位参数文件加载失败!" : "Load parameter file for location failed!";
}
//更新搜索区域
if (rt)
{
if (InspectArea != null &&
InspectArea.IsInitialized())
{
InspectArea.Dispose();
}
InspectArea = _matchModelAssistant.ModelSearchRegion;
ModelRow = _matchModelAssistant.ModelPose[0];
ModelCol = _matchModelAssistant.ModelPose[1];
ModelAgl = _matchModelAssistant.ModelPose[2];
}
}
else
{
ErrorMessage = IsChinese ? "模板匹配助手为空!" : "Match model assistant is null !";
}
}
else
{
ErrorMessage = IsChinese ? "定位参数文件路径异常!" : "No file path for location is valid !";
}
}
catch (HalconDotNet.HalconException hex) { ErrorMessage = hex.Message; }
catch (System.Exception ex) { ErrorMessage = ex.Message; }
finally { }
return(rt);
}
private void OnCameraImageGrabbed(ProCommon.Communal.Camera cam, HalconDotNet.HObject hoImage)
{
if (hoImage != null &&
hoImage.IsInitialized())
{
if (HoImage != null &&
HoImage.IsInitialized())
{
HoImage.Dispose();
}
HoImage = hoImage;
if (ImageGrabbedEvt != null)
{
ImageGrabbedEvt(cam, HoImage);
}
}
}
public override void Draw(HalconDotNet.HTuple hwndHandle)
{
HalconDotNet.HObject xldCross = new HalconDotNet.HObject();
xldCross.Dispose();
HalconDotNet.HOperatorSet.GenCrossContourXld(out xldCross, new HalconDotNet.HTuple(_locateRow), new HalconDotNet.HTuple(_locateCol), 9999, 0);
HalconDotNet.HOperatorSet.DispObj(xldCross, hwndHandle);
HalconDotNet.HObject rec1 = new HalconDotNet.HObject();
rec1.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out rec1,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec1, hwndHandle);
}
private void DetermineArrowHandle()
{
double lth, dr, dc, halfHW;
double rrow, ccol, rowP1, colP1, rowP2, colP2;
double headlth = 15, headwth = 15;
//取线段向量的比例值构成的向量
rrow = _locateRow + (_extentRow - _locateRow) * 0.8;
ccol = _locateCol + (_extentCol - _locateCol) * 0.8;
lth = HalconDotNet.HMisc.DistancePp(rrow, ccol, _extentRow, _extentCol);
if (lth == 0)
{
lth = -1;
}
dr = (_extentRow - rrow) / lth;
dc = (_extentCol - ccol) / lth;
halfHW = headwth / 2.0;
rowP1 = rrow + (lth - headlth) * dr + halfHW * dc;
colP1 = ccol + (lth - headlth) * dc - halfHW * dr;
rowP2 = rrow + (lth - headlth) * dr - halfHW * dc;
colP2 = ccol + (lth - headlth) * dc + halfHW * dr;
if (_arrowHandle != null &&
_arrowHandle.IsInitialized())
{
_arrowHandle.Dispose();
}
if (lth == -1)
{
//产生点
HalconDotNet.HOperatorSet.GenContourPolygonXld(out _arrowHandle, new HalconDotNet.HTuple(rrow), new HalconDotNet.HTuple(ccol));
}
else
{
//产生箭头
HalconDotNet.HOperatorSet.GenContourPolygonXld(out _arrowHandle,
new HalconDotNet.HTuple(new double[] { rrow, _extentRow, rowP1, _extentRow, rowP2 }),
new HalconDotNet.HTuple(new double[] { ccol, _extentCol, colP1, _extentCol, colP2 }));
}
}
/// <summary>
/// Clears all variables managing ROI objects
/// 删除ROI列表
/// </summary>
public void Reset()
{
ROIList.Clear();
ResetInstantROI();
if (_syntheticalRegion != null &&
_syntheticalRegion.IsInitialized())
{
_syntheticalRegion.Dispose();
}
_syntheticalRegion = null;
if (_nonUnionPositiveRegion != null &&
_nonUnionPositiveRegion.IsInitialized())
{
_nonUnionPositiveRegion.Dispose();
}
_nonUnionPositiveRegion = null;
IconicUpdatedDel(EVENT_DELETED_ALL_ROIS);
}
public override HalconDotNet.HObject GetModelRegion()
{
if (_circularArc != null &&
_circularArc.IsInitialized())
{
_circularArc.Dispose();
}
HalconDotNet.HOperatorSet.GenCircleContourXld(out _circularArc,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(_radius),
new HalconDotNet.HTuple(_startPhi),
new HalconDotNet.HTuple(_startPhi + _extentPhi),
new HalconDotNet.HTuple(_circularArcDir),
new HalconDotNet.HTuple(1.0));
HalconDotNet.HObject rg = new HalconDotNet.HObject();
rg.Dispose();
HalconDotNet.HOperatorSet.GenRegionContourXld(_circularArc, out rg, "margin");
return(rg);
}
public override void Draw(HalconDotNet.HTuple hwndHandle)
{
HalconDotNet.HObject rgInternal = new HalconDotNet.HObject();
rgInternal.Dispose();
HalconDotNet.HOperatorSet.GenCircle(out rgInternal, new HalconDotNet.HTuple(_locateRow), new HalconDotNet.HTuple(_locateCol), new HalconDotNet.HTuple(_radiusInternal));
HalconDotNet.HOperatorSet.DispObj(rgInternal, hwndHandle);
HalconDotNet.HObject rgExternal = new HalconDotNet.HObject();
rgExternal.Dispose();
HalconDotNet.HOperatorSet.GenCircle(out rgExternal, new HalconDotNet.HTuple(_locateRow), new HalconDotNet.HTuple(_locateCol), new HalconDotNet.HTuple(_radiusExternal));
HalconDotNet.HOperatorSet.DispObj(rgExternal, hwndHandle);
HalconDotNet.HObject rec1 = new HalconDotNet.HObject(), rec2 = new HalconDotNet.HObject(), rec3 = new HalconDotNet.HObject();
rec1.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out rec1,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec1, hwndHandle);
rec2.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out rec2,
new HalconDotNet.HTuple(_sizeRowInternal),
new HalconDotNet.HTuple(_sizeColInternal),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec2, hwndHandle);
rec3.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out rec3,
new HalconDotNet.HTuple(_sizeRowExternal),
new HalconDotNet.HTuple(_sizeColExternal),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec3, hwndHandle);
}
/// <summary>
/// Releases the memory for all iconic HALCON objects contained in
/// this instance.
/// 释放包含在该类中的图形对象
/// </summary>
public void Clear()
{
_hImage.Dispose();
_caltabRegion.Dispose();
if (_caltabRegion != null &&
_caltabRegion.IsInitialized())
{
_caltabRegion.Dispose();
}
if (_markCenterXLD != null &&
_markCenterXLD.IsInitialized())
{
_markCenterXLD.Dispose();
}
if (_estimatedWorldCoordinateSystem != null &&
_estimatedWorldCoordinateSystem.IsInitialized())
{
_estimatedWorldCoordinateSystem.Dispose();
}
}
protected void LoadImage()
{
bool isChs = LanguageVersion == ProVision.Communal.Language.Chinese;
OpenFileDialog ofd = new OpenFileDialog();
ofd.Multiselect = false;
string filter = isChs ? "图像文件" : "Image Files";
ofd.Filter = filter + "(*.BMP,*.JPG,*.JPEG,*.TIF)|*.bmp;*.jpg;*.jpeg;*.tif";
string title = isChs ? "请选择一张图像文件" : "Select an image file";
ofd.FilterIndex = 0;
ofd.Title = title;
if (ofd.ShowDialog() == DialogResult.OK)
{
try
{
if (_hoImage != null &&
_hoImage.IsInitialized())
{
_hoImage.Dispose();
}
HalconDotNet.HOperatorSet.ReadImage(out _hoImage, ofd.FileName);
_HwndCtrller.AddHobjEntity(_hoImage);
_HwndCtrller.Repaint();//ROI--加载图像,重新渲染图形
}
catch (HalconDotNet.HalconException hex)
{
string txt = isChs ? "加载图像失败!\r\n" : "Load image failed !\r\n";
string caption = isChs ? "错误信息" : "Error message";
ProVision.Communal.FrmMsgBox.Show(txt + hex.GetErrorMessage(), caption, isChs);
}
}
}
protected override bool DoSoftTriggerOnce()
{
bool rt = false;
try
{
if (!AcqHandle.TupleEqual(new HalconDotNet.HTuple()))
{
if (!_imgData.IsInitialized())
{
_imgData = new HalconDotNet.HObject();
}
_imgData.Dispose();
HalconDotNet.HOperatorSet.GrabImageAsync(out _imgData, AcqHandle, GrabTimeOut);
if (_imgData != null)
{
//触发图像采集完成事件
OnImgDataOut();
rt = true;
}
}
}
catch (HalconDotNet.HalconException hex)
{
if (DriverExceptionDel != null)
{
DriverExceptionDel(string.Format("错误：Halcon模拟相机异步抓取失败!\n错误代码:{0}", hex.GetErrorCode()));
}
}
finally
{
}
return(rt);
}
private void ModifyRegion()
{
bool isChs = LanguageVersion == ProCommon.Communal.Language.Chinese;
string txt = isChs ? "修改区域异常!" : "Error occured when modify region!";
string caption = isChs ? "警告信息" : "Warning Message";
HalconDotNet.HTuple mr, mc, mbtntype;
HalconDotNet.HObject tmpModify = null;
HalconDotNet.HObject tmpKeep = null, tmpSelect = null;
HalconDotNet.HOperatorSet.GenEmptyObj(out tmpKeep);
HalconDotNet.HOperatorSet.GenEmptyObj(out tmpSelect);
int cnt = 0;
this.hwndcDisplay.Focus();
UpdateRegionForDisplay();
while (_isModifying)
{
try
{
HalconDotNet.HOperatorSet.GetMposition(this.hwndcDisplay.HalconWindow, out mr, out mc, out mbtntype);
if (_hoBrushRegion != null &&
_hoBrushRegion.IsInitialized())
{
_hoBrushRegion.Dispose();
}
HalconDotNet.HOperatorSet.GenRectangle1(out _hoBrushRegion, mr - _zoomFactorForBrush, mc - _zoomFactorForBrush, mr + _zoomFactorForBrush, mc + _zoomFactorForBrush);
UpdateRegionForDisplay();
if (mbtntype.TupleEqual(new HalconDotNet.HTuple(1))) //按下鼠标左键
{
HalconDotNet.HOperatorSet.Difference(_hoSelectedRegion, _hoBrushRegion, out tmpModify);
_hoSelectedRegion.Dispose();
_hoSelectedRegion = tmpModify;
//若初始区域为数组型
cnt = _hoModifiedRegion.CountObj();
for (int i = 0; i < cnt; i++)
{
tmpSelect.Dispose();
//未选择的区域,不修改,需要保留
if (i != this.lstbRegion.SelectedIndex)
{
HalconDotNet.HOperatorSet.SelectObj(_hoModifiedRegion, out tmpSelect, i + 1);
}
//选择的区域,更新为上述修改后的区域
else
{
HalconDotNet.HOperatorSet.CopyObj(_hoSelectedRegion, out tmpSelect, 1, 1);
}
HalconDotNet.HOperatorSet.ConcatObj(tmpKeep, tmpSelect, out tmpKeep);
}
tmpSelect.Dispose();
_hoModifiedRegion.Dispose();
_hoModifiedRegion = tmpKeep;
HalconDotNet.HOperatorSet.WaitSeconds(0.001);
}
else if (mbtntype.TupleEqual(new HalconDotNet.HTuple(4))) //按下鼠标右键
{
_isModifying = false;
if (_hoBrushRegion != null &&
_hoBrushRegion.IsInitialized())
{
_hoBrushRegion.Dispose();
}
//UpdateRegionForDisplay();
_isModified = true;
}
}
catch (HalconDotNet.HalconException hex)
{
//_isModifying = false;
//ProCommon.DerivedForm.FrmMsgBox.Show(txt + "\r\n" + hex.Message, caption,
// ProCommon.DerivedForm.MyButtons.OK,
// ProCommon.DerivedForm.MyIcon.Error, isChs);
}
//System.Threading.Thread.Sleep(1);
Application.DoEvents();
}
}
public override void DisplayActiveHandle(HalconDotNet.HTuple hwndHandle)
{
HalconDotNet.HObject rec = new HalconDotNet.HObject();
rec.Dispose();
switch (ActiveHandleIdx)
{
//齐轴矩形定位中心
case 0:
{
HalconDotNet.HOperatorSet.GenRectangle2(out rec,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
}
break;
//齐轴矩形右上角点
case 1:
{
HalconDotNet.HOperatorSet.GenRectangle2(out rec,
new HalconDotNet.HTuple(_upLeftRow),
new HalconDotNet.HTuple(_botRightCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
}
break;
//齐轴矩形左上角点
case 2:
{
HalconDotNet.HOperatorSet.GenRectangle2(out rec,
new HalconDotNet.HTuple(_upLeftRow),
new HalconDotNet.HTuple(_upLeftCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
}
break;
//齐轴矩形左下角点
case 3:
{
HalconDotNet.HOperatorSet.GenRectangle2(out rec,
new HalconDotNet.HTuple(_botRightRow),
new HalconDotNet.HTuple(_upLeftCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
}
break;
//齐轴矩形右下角点
case 4:
{
HalconDotNet.HOperatorSet.GenRectangle2(out rec,
new HalconDotNet.HTuple(_botRightRow),
new HalconDotNet.HTuple(_botRightCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
}
break;
default:
break;
}
}
/// <summary>
/// Determines(or updates) the basic information for this
/// calibration image, which are the values for the region
/// plate, the center marks, and the estimated pose.
/// The flag <c>mPlateStatus</c> describes the evaluation
/// of the computation process.
/// If desired the quality assessment can be recalculated
/// as well.
/// 计算或更新标定图像的基本信息,包括标定板区域,特征点中心坐标
/// 以及标定板的评估位置(相机外参).
/// "标定板状态"标记描述标定计算过程的评估值,若希望获取品质也可以
/// 重新计算
/// </summary>
/// <param name="isUpdateQuality">
/// Triggers the recalculation of the quality assessment for
/// this calibration image
/// 触发重计算标定图像品质任务
/// </param>
public void UpdateCaltab(bool isUpdateQuality)
{
HalconDotNet.HTuple worldX, worldY;
HalconDotNet.HTuple unit = new HalconDotNet.HTuple("m");
bool failed = false;
ProVision.Calibration.QualityProcedures proc =
new ProVision.Calibration.QualityProcedures();
string descriptionFile;
HalconDotNet.HTuple startCamPara;
ErrorMessage = "";
_caltabRegion.Dispose();
_markCenterXLD.Dispose();
_estimatedWorldCoordinateSystem.Dispose();
_markCenterRows = new HalconDotNet.HTuple();
_markCenterCols = new HalconDotNet.HTuple();
_plateStatus = ProVision.Calibration.CalibOnPlateAssistant.PS_NOT_FOUND;
descriptionFile = _assistant.DescrpFile;
try
{
//注意:FindCaltab算子的控制参数2(从1开始计数),数据类型为整型,非整型则异常(非整型用HTuple封装亦异常)
HalconDotNet.HOperatorSet.FindCaltab(_hImage, out _caltabRegion,
descriptionFile,
_assistant.FilterSize,
_assistant.MarkThresh,
_assistant.MarkMinDiameter);
_plateStatus = ProVision.Calibration.CalibOnPlateAssistant.PS_MARKS_FAILED;
//--Quality issue measurements,标定图像品质计算
if (isUpdateQuality)
{
_qualityIssueList.Clear();
failed = _assistant.TestQualityIssues(this);
}
startCamPara = _assistant.GetCameraParams(this);
HalconDotNet.HOperatorSet.FindMarksAndPose(_hImage, _caltabRegion, descriptionFile, startCamPara,
_assistant.StartThresh, _assistant.DeltaThresh, _assistant.MinThresh, _assistant.Alpha,
_assistant.MinContLength, _assistant.MarkMaxDiameter, out _markCenterRows,
out _markCenterCols, out _plateEstimatedPose);
HalconDotNet.HOperatorSet.GenCrossContourXld(out _markCenterXLD, _markCenterRows, _markCenterCols,
new HalconDotNet.HTuple(10), new HalconDotNet.HTuple(0));
//品质异常:可能无法提取到标定板区域或标志点
if (failed)
{
_assistant.AddQualityIssue(this, ProVision.Calibration.CalibOnPlateAssistant.QUALITY_ISSUE_FAILURE, 0.0);
}
//标定板上特征点的中心像素坐标转换为对应的世界坐标系坐标
HalconDotNet.HOperatorSet.ImagePointsToWorldPlane(startCamPara, _plateEstimatedPose, _markCenterRows, _markCenterCols, unit,
out worldX, out worldY);
//标定板相邻世界坐标点的点间距(米)
HalconDotNet.HTuple distance;
HalconDotNet.HOperatorSet.DistancePp(worldX[0].D, worldY[0].D, worldX[1].D, worldY[1].D, out distance);
_estimatedPlateSize = distance.D;
_estimatedPlateSize *= 10.0;
proc.Get_3D_Coord_System(_hImage, out _estimatedWorldCoordinateSystem,
startCamPara, _plateEstimatedPose, new HalconDotNet.HTuple(_estimatedPlateSize / 2.0));
_plateStatus = _qualityIssueList.Count > 0 ? ProVision.Calibration.CalibOnPlateAssistant.PS_QUALITY_ISSUES :
ProVision.Calibration.CalibOnPlateAssistant.PS_OK;
CanCalib = 0; //准备好标定标记:允许当前标定图像加入标定过程
}
catch (HalconDotNet.HalconException hex)
{
ErrorMessage = hex.Message;
string str = hex.GetErrorMessage();
/* if exception was raised due to lack of memory,
* forward the error to the calling method
* 若由于内存不足抛出异常,则将异常传递给调用者 */
if (hex.Message.IndexOf("not enough") != -1)
{
throw (hex);
}
}
}
public virtual void Do()
{
//1.打开光源
FileLib.Logger.Pop(" 打开光源：", false, "运行日志");
foreach (LightPara item in MyVisionPara.camLightPara.lightPara)
{
LightCtrlManager.Instance.SetLightValue(item);
}
//2.采图
if (GrabImg != null)
{
GrabImg.Dispose();
}
FileLib.Logger.Pop(" 开始采图：", false, "运行日志");
CameraCtrl.Instance.SetExpos(MyVisionPara.camLightPara.CamName, MyVisionPara.camLightPara.Exposure);
//10.获取当前的机械坐标
double X = 0, Y = 0, Z = 0, Theta = 0;
if (CaliParaManager.Instance.GetCaliMode(MyVisionPara.localPara.localSetting.CoordiCam) == CaliModelEnum.HandEyeCali)
{
MotionManager.Instance.SetCoordi(MyVisionPara.localPara.localSetting.TeachCoordi);
FileLib.Logger.Pop("当前的坐标系为：" + MyVisionPara.localPara.localSetting.TeachCoordi.ToString(), false, "运行日志");
MotionManager.Instance.GetCoordiPos(out X, out Y, out Z, out Theta);
FileLib.Logger.Pop("当前的机械坐标", false, "运行日志");
FileLib.Logger.Pop("X：" + X.ToString("f4") + " Y：" + Y.ToString("f4") +
" Z：" + Z.ToString("f4") + " Theta：" + Theta.ToString("f4"), false, "运行日志");
}
if (CameraCtrl.Instance.GrabImg(MyVisionPara.camLightPara.CamName, out GrabImg))
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCameraGrabed, 1); //拍照OK
FileLib.Logger.Pop(" 采图OK：", false, "运行日志");
}
else
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCameraGrabed, 2); //拍照NG
FileLib.Logger.Pop(" 采图NG：", false, "运行日志");
}
ViewControl view1 = DisplaySystem.GetViewControl(CameraTest.UpCam1);
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam0)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam1);
}
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam1)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam2);
}
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam3);
}
view1.ResetView();
view1.Refresh();
view1.AddViewImage(GrabImg);
view1.Repaint();
MyVisionBase.SaveImg(GrabImg, "扎针对位图片");
//3.关闭光源
LightCtrlManager.Instance.SetAllLightTo0();
FileLib.Logger.Pop(" 关闭光源：", false, "运行日志");
//4.0设置定位模式
MyLocal.SetLocalModel(MyVisionPara.localPara.localSetting.localModel);
//5.0设置定位参数
MyLocal.SetParam(GrabImg, MyVisionPara.localPara);
//6.执行定位
try
{
MyLocal.doLocal();
//7.告诉PLC定位结果完成
if (MyVisionPara.ProjectVisionItem == ProjectVisionEnum.ProjectVision1)
{
FileLib.Logger.Pop(" 扎针右侧视觉定位完成，先不发给PLC信号，等计算出偏移量后，将信号发给PLC：", false, "运行日志");
}
else
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCamLocalResult, 1); //告诉PLC定位结果OK
FileLib.Logger.Pop(" 告诉PLC拍照结果OK（告诉PLC定位结果OK）：", false, "运行日志");
}
}
catch (Exception e0)
{
Logger.PopError1(e0, false, "视觉错误日志");
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.ArtTestCamLocalResult, 2); //告诉PLC定位结果NG
FileLib.Logger.Pop(" 告诉PLC拍照结果OK（告诉PLC定位结果NG）：", false, "运行日志");
MyLocalResult.IsLocalOk = false;
}
MyLocalResult = MyLocal.GetResult();
view1.AddViewObject(MyLocalResult.ShowContour);
//结合标定坐标计算出产品的实际位置
//8.获取标定矩阵
MyHomMat2D HomMat = new MyHomMat2D();
HomMat = CaliParaManager.Instance.GetHomMAT(MyVisionPara.localPara.localSetting.CoordiCam); //获取示教的标定矩阵
FileLib.Logger.Pop(" 获取示教的标定矩阵：" + MyVisionPara.localPara.localSetting.CoordiCam.ToString(), false, "运行日志");
FileLib.Logger.Pop(HomMat.ToString(), false, "运行日志");
HalconDotNet.HTuple HHomMat = new HalconDotNet.HTuple();
//标定矩阵的转换
MyVisionBase.MyHomMatToHalcon(HomMat, out HHomMat);
//9.图像坐标系的原点由左上角变到左下角
MyVisionBase.AdjImgRow(GrabImg, ref MyLocalResult.row);
St_VectorAngle PixelVector = new St_VectorAngle(MyLocalResult.row, MyLocalResult.col, MyLocalResult.angle);
FileLib.Logger.Pop("当前的像素坐标", false, "运行日志");
FileLib.Logger.Pop("Col：" + MyLocalResult.col.ToString("f4") + " Row：" + MyLocalResult.row.ToString("f4") +
" Theta：" + MyLocalResult.angle.ToString("f4"), false, "运行日志");
CaliValue CaliPara = CaliParaManager.Instance.GetCaliValue(MyVisionPara.localPara.localSetting.CoordiCam);
VectorAngle GrabPos = new VectorAngle(X, Y, Theta);
//9 计算出当前产品距离旋转中心的坐标
EyeToHandPos.TransEyeToHandPos(PixelVector, CaliPara, GrabPos, out PosToRot);
//10计算出示教产品到旋转中心的坐标
St_VectorAngle TeachPixelPos = new St_VectorAngle(MyLocalResult.TeachRow, MyLocalResult.TeachCol, MyLocalResult.TeachAngle);
VectorAngle TeachGrabPos = new VectorAngle(MyLocalResult.TeachX, MyLocalResult.TeachY, MyLocalResult.TeachTheta);
MyVisionBase.AdjImgRow(GrabImg, ref TeachPixelPos.Row);
EyeToHandPos.TransEyeToHandPos(TeachPixelPos, CaliPara, TeachGrabPos, out TeachPosToRot);
view1.Repaint();
view1.SetString(100, 100, "red", "PosToRot: " + " X： " + PosToRot.Col.ToString("f3") + " Y： " +
PosToRot.Row.ToString("f3") + " Theta： " + PosToRot.Angle.ToString("f3"));
MyLocalResult.PosToRot = PosToRot;
MyLocalResult.TeachPosToRot = TeachPosToRot;
FileLib.Logger.Pop("示教的产品相对旋转中心的偏移量", false, "运行日志");
FileLib.Logger.Pop("PosToRot: " + " X： " + PosToRot.Col.ToString("f3") + " Y： " +
PosToRot.Row.ToString("f3") + " Theta： " + PosToRot.Angle.ToString("f3"), false, "运行日志");
FileLib.Logger.Pop("当前的产品相对旋转中心的偏移量", false, "运行日志");
FileLib.Logger.Pop("PosToRot: " + " X： " + TeachPosToRot.Col.ToString("f3") + " Y： " +
TeachPosToRot.Row.ToString("f3") + " Theta： " + TeachPosToRot.Angle.ToString("f3"), false, "运行日志");
//11.计算出X Y Theta的补偿量，
////图像坐标转到机械坐标系
//MyVisionBase.AffineTransPt(MyLocalResult.col, MyLocalResult.row, HHomMat, out MyLocalResult.x, out MyLocalResult.y);
////
//MyVisionBase.AffineTransPt(MyLocalResult.TeachCol, MyLocalResult.TeachRow, HHomMat, out MyLocalResult.TeachX, out MyLocalResult.TeachY);
}
public override void Do()
{
//1.打开光源
FileLib.Logger.Pop(" 打开光源：", false, "FOF运行日志");
foreach (LightPara item in MyVisionPara.camLightPara.lightPara)
{
LightCtrlManager.Instance.SetLightValue(item);
}
//2.采图
FileLib.Logger.Pop(" 开始采图：", false, "FOF运行日志");
if (GrabImg != null)
{
GrabImg.Dispose();
}
if (FilterImg != null)
{
FilterImg.Dispose();
}
CameraCtrl.Instance.SetExpos(MyVisionPara.camLightPara.CamName, MyVisionPara.camLightPara.Exposure);
if (CameraCtrl.Instance.GrabImg(MyVisionPara.camLightPara.CamName, out GrabImg))
{
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_ok, 1); //拍照OK
}
FileLib.Logger.Pop(" 采图OK：", false, "FOF运行日志");
}
else
{
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_ok, 2); //拍照NG
}
FileLib.Logger.Pop(" 采图NG：", false, "FOF运行日志");
}
ViewControl view1 = new ViewControl();
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam2);
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
view1 = DisplaySystem.GetViewControl(CameraTest.UpCam3);
}
view1.ResetView();
view1.Refresh();
//3.关闭光源
//LightCtrlManager.Instance.SetAllLightTo0();
//FileLib.Logger.Pop(" 关闭光源：", false, "FOF运行日志");
//4.0设置定位模式
MyLocal.SetLocalModel(MyVisionPara.localPara.localSetting.localModel);
//5.0设置定位参数
FileLib.Logger.Pop(" 开始偏移检测：", false, "FOF运行日志");
MyVisionBase.SaveImg(GrabImg, "FOF偏移检测图片");
if (MyVisionPara.camLightPara.IsFilter)
{
FileLib.Logger.Pop(" 开始频域滤波，FilterC：" + MyVisionPara.camLightPara.FilterC.ToString(), false, "FOF运行日志");
MyVisionBase.FilterImg(GrabImg, out FilterImg, MyVisionPara.camLightPara.FilterC);
view1.AddViewImage(FilterImg);
MyVisionBase.SaveImg(FilterImg, "FOF偏移检测图片");
MyLocal.SetParam(FilterImg, MyVisionPara.localPara);
}
else
{
view1.AddViewImage(GrabImg);
MyLocal.SetParam(GrabImg, MyVisionPara.localPara);
}
view1.Repaint();
//6.执行定位
try
{
FileLib.Logger.Pop(" 开始定位：", false, "FOF运行日志");
MyLocal.doLocal();
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_result, 1);
}
FileLib.Logger.Pop(" 告诉PLC拍照结果OK（告诉PLC定位结果OK）：", false, "FOF运行日志");
}
catch (Exception e0)
{
if (MyVisionPara.camLightPara.CamName == CameraEnum.Cam2)
{
LD.Logic.PlcHandle.Instance.WriteValue(LD.Common.PlcDevice.FOF_Grabed_result, 2);
}
Logger.PopError1(e0, false, "视觉错误日志");
FileLib.Logger.Pop(" 告诉PLC拍照结果OK（告诉PLC定位结果NG）：", false, "FOF运行日志");
}
MyLocalResult = MyLocal.GetResult();
view1.AddViewObject(MyLocalResult.ShowContour);
view1.Repaint();
//8.结合标定坐标计算出产品的实际位置
MyHomMat2D HomMat = new MyHomMat2D();
HomMat = CaliParaManager.Instance.GetHomMAT(MyVisionPara.localPara.localSetting.CoordiCam); //获取示教的标定矩阵
FileLib.Logger.Pop(" 获取标定矩阵(CoordiEnumItem)：" + MyVisionPara.localPara.localSetting.CoordiCam.ToString()
, false, "FOF运行日志");
FileLib.Logger.Pop(HomMat.ToString(), false, "FOF运行日志");
HalconDotNet.HTuple HHomMat = new HalconDotNet.HTuple();
//9.标定矩阵的转换
MyVisionBase.MyHomMatToHalcon(HomMat, out HHomMat);
//10.图像坐标系的原点由左上角变到左下角
MyVisionBase.AdjImgRow(GrabImg, ref MyLocalResult.row);
MyVisionBase.AffineTransPt(MyLocalResult.col, MyLocalResult.row, HHomMat, out MyLocalResult.x, out MyLocalResult.y);
FileLib.Logger.Pop("col: " + MyLocalResult.col.ToString("f3") + " row: " + MyLocalResult.row.ToString("f3"), false, "FOF运行日志");
FileLib.Logger.Pop("X: " + MyLocalResult.x.ToString("f3") + " Y: " + MyLocalResult.y.ToString("f3"), false, "FOF运行日志");
MyLocalResult.Theta = MyLocalResult.angle;
if (FilterImg != null)
{
FilterImg.Dispose();
}
if (GrabImg != null)
{
GrabImg.Dispose();
}
}
private void Bbi_Click(object sender, ItemClickEventArgs e)
{
switch (e.Item.Tag.ToString())
{
case "BBI_LOADIMAGE":
LoadImage();
break;
case "BBI_LINE":
if (_hoImage != null &&
_hoImage.IsInitialized())
{
if (_ROIManager != null)
{
_ROIManager.SetROIShape(new ProVision.InteractiveROI.ROILine()); //定义区域时,矢量线段不响应;主要用在定义测量
}
}
break;
case "BBI_RECTANGLE1":
if (_hoImage != null &&
_hoImage.IsInitialized())
{
if (_ROIManager != null)
{
_ROIManager.SetROIShape(new ProVision.InteractiveROI.ROIRectangle1());
}
}
break;
case "BBI_RECTANGLE2":
if (_hoImage != null &&
_hoImage.IsInitialized())
{
if (_ROIManager != null)
{
_ROIManager.SetROIShape(new ProVision.InteractiveROI.ROIRectangle2());
}
}
break;
case "BBI_CIRCULARARC":
if (_hoImage != null &&
_hoImage.IsInitialized())
{
if (_ROIManager != null)
{
_ROIManager.SetROIShape(new ProVision.InteractiveROI.ROICircularArc()); //定义区域时,有向圆弧不响应;主要用在定义测量
}
}
break;
case "BBI_CIRCLE":
if (_hoImage != null &&
_hoImage.IsInitialized())
{
if (_ROIManager != null)
{
_ROIManager.SetROIShape(new ProVision.InteractiveROI.ROICircle());
}
}
break;
case "BBI_ANNULUS":
if (_hoImage != null &&
_hoImage.IsInitialized())
{
if (_ROIManager != null)
{
_ROIManager.SetROIShape(new ProVision.InteractiveROI.ROIAnnulus());
}
}
break;
case "BBI_DELETEACTIVEROI":
if (_hoImage != null &&
_hoImage.IsInitialized())
{
if (_ROIManager != null)
{
_ROIManager.RemoveActiveROI();
}
}
break;
case "BBI_DELETEALLROI":
if (_hoImage != null &&
_hoImage.IsInitialized())
{
if (_ROIManager != null)
{
_HwndCtrller.ResetAll();
_HwndCtrller.Repaint();
}
}
break;
case "BBI_RESETWINDOW":
if (_hoImage != null &&
_hoImage.IsInitialized())
{
if (_ROIManager != null)
{
_HwndCtrller.ResetWindow();
_HwndCtrller.Repaint();
}
}
break;
case "BBI_CLEARICONIC":
if (_hoImage != null &&
_hoImage.IsInitialized())
{
if (_ROIManager != null)
{
_HwndCtrller.ResetAll();
if (_hoModifiedRegion != null &&
_hoModifiedRegion.IsInitialized())
{
_hoModifiedRegion.Dispose();
}
if (_hoSelectedRegion != null &&
_hoSelectedRegion.IsInitialized())
{
_hoSelectedRegion.Dispose();
}
this.bchkiModifyRegion.Checked = false;
this.lstbRegion.Items.Clear();
_isUpdated = false;
}
}
break;
case "BBI_UPDATEREGION":
_isUpdated = false;
if (_hoImage != null &&
_hoImage.IsInitialized())
{
//若非传入区域
if (!_isTransmitted)
{
if (_ROIManager != null)
{
if (_hoRawRegion != null &&
_hoRawRegion.IsInitialized())
{
_hoRawRegion.Dispose();
}
HalconDotNet.HOperatorSet.GenEmptyObj(out _hoRawRegion);
_roiList = _ROIManager.ROIList;
if (_roiList != null &&
_roiList.Count > 0)
{
this.lstbRegion.Items.Clear();
string roiType = "";
for (int i = 0; i < _roiList.Count; i++)
{
HalconDotNet.HOperatorSet.ConcatObj(_hoRawRegion, ((ProVision.InteractiveROI.ROI)_roiList[i]).GetModelRegion(), out _hoRawRegion);
roiType = ((ProVision.InteractiveROI.ROI)_roiList[i]).ROIShape.ToString();
this.lstbRegion.Items.Add(i.ToString("00") + "[" + roiType + "]");
}
if (_hoModifiedRegion != null &&
_hoModifiedRegion.IsInitialized())
{
_hoModifiedRegion.Dispose();
}
_hoModifiedRegion = _hoRawRegion.Clone();
this.lstbRegion.SelectedIndex = 0;
HalconDotNet.HOperatorSet.SelectObj(_hoModifiedRegion, out _hoSelectedRegion, 1);
_isUpdated = true;
}
}
}
else
{
//传入区域--作为单一区域
this.lstbRegion.Items.Clear();
this.lstbRegion.Items.Add("00" + "[Arbitrary]");
if (_hoModifiedRegion != null &&
_hoModifiedRegion.IsInitialized())
{
_hoModifiedRegion.Dispose();
}
//修改区域与选择区域为同一指向
HalconDotNet.HOperatorSet.SelectObj(_hoRawRegion, out _hoModifiedRegion, 1);
_hoSelectedRegion = _hoModifiedRegion;
}
}
break;
default: break;
}
}