Exemplo n.º 1
0
        public void Run()
        {
            if (inputImage == null)
            {
                FormFindLine.Instance.TextBoxMessageDisp("图像为空", System.Drawing.Color.Red);
                toolRunStatu = ToolRunStatu.Not_Input_Image;
                return;
            }
            try
            {
                UpdateImage();
                if (inputPose != null)
                {
                    HTuple Row   = inputPose.X - templatePose.X;
                    HTuple Col   = inputPose.Y - templatePose.Y;
                    HTuple angle = inputPose.U - templatePose.U;

                    HTuple _homMat2D;
                    HOperatorSet.HomMat2dIdentity(out _homMat2D);
                    HOperatorSet.HomMat2dRotate(_homMat2D, (HTuple)(angle), (HTuple)templatePose.X, (HTuple)templatePose.Y, out _homMat2D);
                    HOperatorSet.HomMat2dTranslate(_homMat2D, (HTuple)(Row), (HTuple)(Col), out _homMat2D);

                    //对预期线的起始点做放射变换
                    HOperatorSet.AffineTransPixel(_homMat2D, (HTuple)expectLineStartRow, (HTuple)expectLineStartCol, out newExpectLineStartRow, out newExpectLineStartCol);
                    HOperatorSet.AffineTransPixel(_homMat2D, (HTuple)expectLineEndRow, (HTuple)expectLineEndCol, out newExpectLineEndRow, out newExpectLineEndCol);
                }
                else
                {
                    newExpectLineStartRow = expectLineStartRow;
                    newExpectLineStartCol = expectLineStartCol;
                    newExpectLineEndRow   = expectLineEndRow;
                    newExpectLineEndCol   = expectLineEndCol;
                }

                HTuple handleID;
                HOperatorSet.CreateMetrologyModel(out handleID);
                HTuple width, height;
                HOperatorSet.GetImageSize(inputImage, out width, out height);
                HOperatorSet.SetMetrologyModelImageSize(handleID, width[0], height[0]);
                HTuple index;
                HOperatorSet.AddMetrologyObjectLineMeasure(handleID, newExpectLineStartRow, newExpectLineStartCol, newExpectLineEndRow, newExpectLineEndCol, new HTuple(50), new HTuple(20), new HTuple(1), new HTuple(30), new HTuple(), new HTuple(), out index);

                //参数在这里设置
                HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_transition"), new HTuple(polarity));
                HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("num_measures"), new HTuple(cliperNum));
                HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_length1"), new HTuple(length));
                HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_length2"), new HTuple(weidth));
                HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_threshold"), new HTuple(threshold));
                HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_select"), new HTuple(edgeSelect));
                HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_sigma"), new HTuple(sigma));
                HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("min_score"), new HTuple(minScore));
                HOperatorSet.ApplyMetrologyModel(inputImage, handleID);

                //显示所有卡尺
                HTuple pointRow, pointCol;
                HOperatorSet.GetMetrologyObjectMeasures(out contours, handleID, new HTuple("all"), new HTuple("all"), out pointRow, out pointCol);
                HOperatorSet.SetColor(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, new HTuple("blue"));
                HOperatorSet.DispObj(contours, FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow);
                FormFindLine.Instance.myHwindow.DispObj(contours, "blue");

                //显示指示找线方向的箭头
                HTuple arrowAngle;
                HOperatorSet.AngleLx(newExpectLineStartRow, newExpectLineStartCol, newExpectLineEndRow, newExpectLineEndCol, out arrowAngle);
                #region 测试箭头


                #endregion
                arrowAngle = arrowAngle + Math.PI / 2;
                arrowAngle = arrowAngle.TupleDeg();
                HTuple row = (newExpectLineStartRow + newExpectLineEndRow) / 2;
                HTuple column = (newExpectLineStartCol + newExpectLineEndCol) / 2;
                double drow, dcolumn;
                double arrowLength = length + 100;
                if (0 <= arrowAngle && arrowAngle <= 90)
                {
                    drow    = Math.Abs(arrowLength * Math.Sin(((HTuple)arrowAngle).TupleRad()));
                    dcolumn = Math.Abs(arrowLength * Math.Cos(((HTuple)arrowAngle).TupleRad()));
                    HOperatorSet.DispArrow(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, row, column, row - drow, column + dcolumn, 5.0);
                }
                else if (arrowAngle > 90 && arrowAngle <= 180)
                {
                    drow    = arrowLength * Math.Sin(((HTuple)(180 - arrowAngle)).TupleRad());
                    dcolumn = arrowLength * Math.Cos(((HTuple)(180 - arrowAngle)).TupleRad());
                    HOperatorSet.DispArrow(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, row, column, row - drow, column - dcolumn, 5.0);
                }
                else if (arrowAngle < 0 && arrowAngle >= -90)
                {
                    drow    = arrowLength * Math.Sin(((HTuple)arrowAngle * -1).TupleRad());
                    dcolumn = arrowLength * Math.Cos(((HTuple)arrowAngle * -1).TupleRad());
                    HOperatorSet.DispArrow(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, row, column, row + drow, column + dcolumn, 5.0);
                }
                else if (arrowAngle < -90 && arrowAngle >= -180)
                {
                    drow    = Math.Abs(arrowLength * Math.Sin(((HTuple)arrowAngle + 180).TupleRad()));
                    dcolumn = Math.Abs(arrowLength * Math.Cos(((HTuple)arrowAngle + 180).TupleRad()));
                    HOperatorSet.DispArrow(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, row, column, row + drow, column - dcolumn, 5.0);
                }

                //把点显示出来
                HObject cross;
                HOperatorSet.GenCrossContourXld(out cross, pointRow, pointCol, new HTuple(12), new HTuple(0));
                HOperatorSet.SetColor(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, new HTuple("orange"));
                HOperatorSet.DispObj(cross, FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow);
                FormFindLine.Instance.myHwindow.DispObj(cross, "orange");

                //得到所找到的线
                HTuple  parameter;
                HObject line;
                HOperatorSet.GetMetrologyObjectResult(handleID, new HTuple("all"), new HTuple("all"), new HTuple("result_type"), new HTuple("all_param"), out parameter);
                HOperatorSet.GetMetrologyObjectResultContour(out line, handleID, new HTuple("all"), new HTuple("all"), new HTuple(1.5));

                if (parameter.Length >= 4)
                {
                    ResultLineStartRow = parameter[0];
                    ResultLineStartCol = parameter[1];
                    ResultLineEndRow   = parameter[2];
                    ResultLineEndCol   = parameter[3];
                    Point start = new Point()
                    {
                        Row = ResultLineStartRow, Col = ResultLineStartCol
                    };
                    Point end = new Point()
                    {
                        Row = ResultLineEndRow, Col = ResultLineEndCol
                    };
                    resultLine = new Line()
                    {
                        StartPoint = start, EndPoint = end
                    };

                    //显示找到的线
                    HOperatorSet.SetColor(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, new HTuple("green"));
                    // HOperatorSet.DispObj(line, GetWindowHandle(jobName));
                    FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow.SetLineWidth(2);
                    FormFindLine.Instance.myHwindow.DispObj(line, "green");
                }
                HOperatorSet.AngleLx(ResultLineStartRow, ResultLineStartCol, ResultLineEndRow, ResultLineEndCol, out _angle);
                HOperatorSet.ClearMetrologyModel(handleID);

                FormFindLine.Instance.tbx_resultStartRow.Text = ResultLineStartRow.ToString();
                FormFindLine.Instance.tbx_resultStartCol.Text = ResultLineEndCol.ToString();
                FormFindLine.Instance.tbx_resultEndRow.Text   = ResultLineEndRow.ToString();
                FormFindLine.Instance.tbx_resultEndCol.Text   = ResultLineEndCol.ToString();
                FormFindLine.Instance.TextBoxMessageDisp("运行成功", System.Drawing.Color.Green);
                toolRunStatu = ToolRunStatu.Succeed;
            }
            catch (Exception ex)
            {
                FormFindLine.Instance.TextBoxMessageDisp("工具运行异常" + ex.Message, System.Drawing.Color.Red);
            }
        }
Exemplo n.º 2
0
        public void Run(SoftwareRunState softwareRunState)
        {
            Stopwatch sw = new Stopwatch();

            sw.Restart();
            HTuple  homMat2DArrow = null;
            HObject arrow = null, arrowTrans = null;
            HObject drawLine = null, imageReducedLine;

            if (inputImage == null)
            {
                FormFindLine.Instance.SetToolStatus("工具输入图像为空", ToolRunStatu.Not_Input_Image);
                return;
            }
            try
            {
                UpdateImage();
                if (inputPose != null)
                {
                    HTuple Row   = inputPose.X - templatePose.X;
                    HTuple Col   = inputPose.Y - templatePose.Y;
                    HTuple angle = inputPose.U - templatePose.U;

                    HTuple _homMat2D;
                    HOperatorSet.HomMat2dIdentity(out _homMat2D);
                    HOperatorSet.HomMat2dRotate(_homMat2D, (HTuple)(angle), (HTuple)templatePose.X, (HTuple)templatePose.Y, out _homMat2D);
                    HOperatorSet.HomMat2dTranslate(_homMat2D, (HTuple)(Row), (HTuple)(Col), out _homMat2D);

                    //对预期线的起始点做放射变换
                    HOperatorSet.AffineTransPixel(_homMat2D, (HTuple)expectLineStartRow, (HTuple)expectLineStartCol, out newExpectLineStartRow, out newExpectLineStartCol);
                    HOperatorSet.AffineTransPixel(_homMat2D, (HTuple)expectLineEndRow, (HTuple)expectLineEndCol, out newExpectLineEndRow, out newExpectLineEndCol);
                }
                else
                {
                    newExpectLineStartRow = expectLineStartRow;
                    newExpectLineStartCol = expectLineStartCol;
                    newExpectLineEndRow   = expectLineEndRow;
                    newExpectLineEndCol   = expectLineEndCol;
                }

                HTuple handleID;
                HOperatorSet.CreateMetrologyModel(out handleID);
                HTuple width, height;
                HOperatorSet.GetImageSize(inputImage, out width, out height);
                HOperatorSet.SetMetrologyModelImageSize(handleID, width[0], height[0]);
                HTuple index;
                HOperatorSet.AddMetrologyObjectLineMeasure(handleID, newExpectLineStartRow, newExpectLineStartCol, newExpectLineEndRow, newExpectLineEndCol, new HTuple(50), new HTuple(20), new HTuple(1), new HTuple(30), new HTuple(), new HTuple(), out index);

                //参数在这里设置
                HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_transition"), new HTuple(polarity));
                HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("num_measures"), new HTuple(cliperNum));
                HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_length1"), new HTuple(length));
                HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_length2"), new HTuple(weidth));
                HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_threshold"), new HTuple(threshold));
                HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_select"), new HTuple(edgeSelect));
                HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_sigma"), new HTuple(sigma));
                HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("min_score"), new HTuple(minScore));
                HOperatorSet.ApplyMetrologyModel(inputImage, handleID);

                //显示所有卡尺
                HTuple pointRow, pointCol;
                HOperatorSet.GetMetrologyObjectMeasures(out contoursDisp, handleID, new HTuple("all"), new HTuple("all"), out pointRow, out pointCol);


                //显示指示找线方向的箭头

                #region 测试箭头
                HTuple arrowRow = null, arrowColumn = null;
                HOperatorSet.GenRegionLine(out drawLine, newExpectLineStartRow, newExpectLineStartCol, newExpectLineEndRow, newExpectLineEndCol);
                HOperatorSet.ReduceDomain(inputImage, drawLine, out imageReducedLine);
                HOperatorSet.GetRegionPoints(imageReducedLine, out arrowRow, out arrowColumn);
                if (arrowRow.Length < 200)
                {
                    CommonMethods.CommonMethods.gen_arrow_contour_xld(out arrow, arrowRow[0], arrowColumn[0], arrowRow[arrowRow.Length - 1], arrowColumn[arrowRow.Length - 1], 20, 20);
                }
                else
                {
                    CommonMethods.CommonMethods.gen_arrow_contour_xld(out arrow, arrowRow[0], arrowColumn[0], arrowRow[200], arrowColumn[200], 20, 20);
                }
                HOperatorSet.VectorAngleToRigid(newExpectLineStartRow, newExpectLineStartCol, 0, (newExpectLineStartRow + newExpectLineEndRow) / 2, (newExpectLineStartCol + newExpectLineEndCol) / 2, new HTuple(-90).TupleRad(), out homMat2DArrow);
                HOperatorSet.AffineTransContourXld(arrow, out arrowDisp, homMat2DArrow);
                #endregion

                //把点显示出来
                HOperatorSet.GenCrossContourXld(out crossDisp, pointRow, pointCol, new HTuple(12), new HTuple(0));

                //得到所找到的线
                HTuple parameter;
                HOperatorSet.GetMetrologyObjectResult(handleID, new HTuple("all"), new HTuple("all"), new HTuple("result_type"), new HTuple("all_param"), out parameter);
                HOperatorSet.GetMetrologyObjectResultContour(out LineDisp, handleID, new HTuple("all"), new HTuple("all"), new HTuple(1.5));

                if (parameter.Length >= 4)
                {
                    ResultLineStartRow = parameter[0];
                    ResultLineStartCol = parameter[1];
                    ResultLineEndRow   = parameter[2];
                    ResultLineEndCol   = parameter[3];
                    Point start = new Point()
                    {
                        Row = ResultLineStartRow, Col = ResultLineStartCol
                    };
                    Point end = new Point()
                    {
                        Row = ResultLineEndRow, Col = ResultLineEndCol
                    };
                    resultLine = new Line()
                    {
                        StartPoint = start, EndPoint = end
                    };
                }
                HOperatorSet.AngleLx(ResultLineStartRow, ResultLineStartCol, ResultLineEndRow, ResultLineEndCol, out _angle);
                if (softwareRunState == SoftwareRunState.Debug)
                {
                    DispMainWindow(FormFindLine.Instance.myHwindow);
                    FormFindLine.Instance.tbx_resultStartRow.Text = ResultLineStartRow.ToString();
                    FormFindLine.Instance.tbx_resultStartCol.Text = ResultLineEndCol.ToString();
                    FormFindLine.Instance.tbx_resultEndRow.Text   = ResultLineEndRow.ToString();
                    FormFindLine.Instance.tbx_resultEndCol.Text   = ResultLineEndCol.ToString();
                }
                HOperatorSet.ClearMetrologyModel(handleID);
                // 参数传递
                ParamsTrans();
                sw.Stop();
                runTime = $"运行时间: {sw.ElapsedMilliseconds} ms";
                FormFindLine.Instance.SetToolStatus("工具运行成功!", ToolRunStatu.Succeed);
            }
            catch (Exception ex)
            {
                FormFindLine.Instance.SetToolStatus($"工具运行异常,异常原因: {ex}", ToolRunStatu.Tool_Run_Error);
            }
            finally
            {
                //homMat2DArrow.Dispose();
                //arrow.Dispose();
                //arrowTrans.Dispose();
            }
        }