/// <summary>
/// 显示视觉图像
/// </summary>
/// <param name="arg1"></param>
/// <param name="arg2"></param>
/// <param name="arg3"></param>
private void Instance_ImageShowEvent(Module arg1, Camera arg2, VisionImage arg3)
{
this.BeginInvoke(new Action(() =>
{
if (arg1 == this.Module)
{
if (arg2 == Camera.Top)
{
CommonAlgorithms.Copy(arg3, imageControl1.imageSet.Image);
}
else if (arg2 == Camera.Bottom1)
{
CommonAlgorithms.Copy(arg3, imageControl2.imageSet.Image);
}
else if (arg2 == Camera.Bottom2)
{
CommonAlgorithms.Copy(arg3, imageControl3.imageSet.Image);
}
}
arg3?.Dispose();
}));
}
private void bStartChkCailb_Click(object sender, EventArgs e)
{
if (Thd_Cailb == null || !Thd_Cailb.IsAlive)
{
Thd_Cailb = new Thread(() =>
{
#region 开始测量
try
{
Form_Main.Instance.StartGrabImage();
int row = int.Parse(this.tJigRow.Text); // 行
int col = int.Parse(this.tJigCol.Text); // 列
CailbResult = new Jig_ResultItem[row, col];
PointF basePoint = new PointF();
basePoint.X = float.Parse(this.tCailbBaseX.Text);
basePoint.Y = float.Parse(this.tCailbBaseY.Text);
double distX = float.Parse(this.tJigDx.Text);
double distY = float.Parse(this.tJigDy.Text);
RectangleContour rect = (RectangleContour)Form_Main.Instance.imageSet.Roi[0].Shape;
short rMin = short.Parse(this.upCircleRmin.Text);
short rMax = short.Parse(this.upCircleRmax.Text);
PointContour center = new PointContour();
double radius = 0;
double gain = 1;
double offset = 0;
double cycle = 1;
gain = double.Parse(this.tGainValue.Text);
offset = double.Parse(this.tOffsetValue.Text);
cycle = double.Parse(this.tHanldeCycle.Text);
for (int i = 0; i < row; i++)
{
for (int j = 0; j < col; j++)
{
Jig_ResultItem item = new Jig_ResultItem();
item.MachinePos = this.chkPoint[i * col + j];
//item.MachinePos.X = (float)(basePoint.X + distX * j);
//item.MachinePos.Y = (float)(basePoint.Y + distY * i);
// 移动到目标位
Form_Main.Instance.XYGoPosTillStop(20 * 1000, item.MachinePos, variable);
//Thread.Sleep(100);
// 获得上相机图像
VisionImage image = Form_Main.Instance.GrabImage2View(Camera.CAM.Top);
// 预处理
for (int time = 0; time < cycle; ++time)
{
image = Form_Main.Instance.GainOffset(image, gain, offset);
}
Algorithms.Copy(image, Form_Main.Instance.imageSet.Image);
// 找圆
if (CPKTools.FindCircle(image, rect, rMin, rMax, ref center, ref radius, 0, 0, 0))
{
item.Image_CircleCenter.X = (float)center.X;
item.Image_CircleCenter.Y = (float)center.Y;
item.Real_CircleCenter = Camera.CameraDefine.Instance[Camera.CAM.Top].ImagePt2WorldPt(item.MachinePos, center, 0);
}
image.Dispose();
CailbResult[i, j] = item;
}
}
// 计算 间距
for (int i = 0; i < row; i++)
{
for (int j = 0; j < col; j++)
{
if (CailbResult[i, j].Real_CircleCenter.X == 0 && CailbResult[i, j].Real_CircleCenter.Y == 0)
{
CailbResult[i, j].RightDist = 0;
CailbResult[i, j].DownDist = 0;
continue;
}
if (j != 0 && j < col)// 右间距
{
CailbResult[i, j].RightDist = CPKTools.GetDist(ref CailbResult[i, j].Real_CircleCenter, ref CailbResult[i, 0].Real_CircleCenter) - j * distX;
}
if (i != 0 && i < row)// 下间距
{
CailbResult[i, j].DownDist = CPKTools.GetDist(ref CailbResult[i, j].Real_CircleCenter, ref CailbResult[0, j].Real_CircleCenter) - i * distY;
}
}
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
#endregion
});
Thd_Cailb.Start();
}
}
public static PaletteType ProcessImage(VisionImage image, string path, out double[] distance)
{
// Initialize the IVA_Data structure to pass results and coordinate systems.
IVA_Data ivaData = new IVA_Data(17, 1);
distance = new double[4] {
0, 0, 0, 0
};
// Creates a new, empty region of interest.
Roi roi = new Roi();
// Creates a new AnnulusContour using the given values.
PointContour vaCenter = new PointContour(1283, 965);
AnnulusContour vaOval = new AnnulusContour(vaCenter, 418, 702, 0, 0);
roi.Add(vaOval);
// Find Circular Edge
EdgeOptions vaOptions = new EdgeOptions();
vaOptions.ColumnProcessingMode = ColumnProcessingMode.Average;
vaOptions.InterpolationType = InterpolationMethod.Bilinear;
vaOptions.KernelSize = 3;
vaOptions.MinimumThreshold = 18;
vaOptions.Polarity = EdgePolaritySearchMode.Rising;
vaOptions.Width = 3;
CircularEdgeFitOptions vaFitOptions = new CircularEdgeFitOptions();
vaFitOptions.ProcessType = RakeProcessType.GetFirstEdges;
vaFitOptions.StepSize = 7;
vaFitOptions.MaxPixelRadius = 3;
vaCircularEdgeReport = IVA_FindCircularEdge(image, roi, SpokeDirection.InsideToOutside, vaOptions, vaFitOptions, ivaData, 1);
roi.Dispose();
// Set Coordinate System
int vaCoordSystemIndex = 0;
int stepIndexOrigin = 1;
int resultIndexOrigin = 0;
int stepIndexAngle = -1;
int resultIndexAngle = 0;
double refSysOriginX = vaCircularEdgeReport.Center.X;
double refSysOriginY = vaCircularEdgeReport.Center.Y;
double refSysAngle = 0;
AxisOrientation refSysAxisOrientation = AxisOrientation.Direct;
int vaCoordSystemType = 0;
IVA_CoordSys(vaCoordSystemIndex, stepIndexOrigin, resultIndexOrigin, stepIndexAngle, resultIndexAngle, refSysOriginX, refSysOriginY, refSysAngle, refSysAxisOrientation, vaCoordSystemType, ivaData);
// Image Buffer: Push
Functions.IVA_PushBuffer(ivaData, image, 0);
// Get Image
string vaFilePath = path;
FileInformation vaFileInfo = Algorithms.GetFileInformation(vaFilePath);
// Set the image size to 0 to speed up the cast.
//image.SetSize(0, 0);
//image.Type = vaFileInfo.ImageType;
//image.BitDepth = 0;
image.ReadFile(vaFilePath);
switch (image.Type)
{
case ImageType.I16:
case ImageType.U16:
if (image.BitDepth == 0 & false)
{
image.BitDepth = 10;
}
break;
default:
break;
}
// Operators: Absolute Difference Image
Algorithms.AbsoluteDifference(image, Functions.IVA_GetBuffer(ivaData, 0), image);
// Creates a new, empty region of interest.
Roi roi2 = new Roi();
// Creates a new AnnulusContour using the given values.
PointContour vaCenter2 = new PointContour(vaCircularEdgeReport.Center.X, vaCircularEdgeReport.Center.Y);
AnnulusContour vaOval2 = new AnnulusContour(vaCenter2, 527, 846, 0, 0);
roi2.Add(vaOval2);
// Reposition the region of interest based on the coordinate system.
int coordSystemIndex = 0;
Algorithms.TransformRoi(roi2, new CoordinateTransform(ivaData.baseCoordinateSystems[coordSystemIndex], ivaData.MeasurementSystems[coordSystemIndex]));
// Mask from ROI
IVA_Mask_From_ROI(image, roi2, false, false);
roi2.Dispose();
// Color Threshold
Range plane1Range = new Range(0, 60);
Range plane2Range = new Range(0, 50);
Range plane3Range = new Range(0, 255);
using (VisionImage thresholdImage = new VisionImage(ImageType.U8, 7))
{
Algorithms.ColorThreshold(image, thresholdImage, ColorMode.Rgb, 1, plane1Range, plane2Range, plane3Range);
Algorithms.Copy(thresholdImage, image);
}
// Truncates the frequencies of an image.
IVA_FFT_Truncate(image, TruncateMode.High, 7);
// Advanced Morphology: Remove Objects
int[] vaCoefficients = { 1, 1, 1, 1, 1, 1, 1, 1, 1 };
StructuringElement vaStructElem = new StructuringElement(3, 3, vaCoefficients);
vaStructElem.Shape = StructuringElementShape.Square;
// Filters particles based on their size.
Algorithms.RemoveParticle(image, image, 30, SizeToKeep.KeepLarge, Connectivity.Connectivity8, vaStructElem);
// Invert Binary Image.
IVA_BinaryInverse(image);
// Advanced Morphology: Remove Objects
int[] vaCoefficients2 = { 1, 1, 1, 1, 1, 1, 1, 1, 1 };
StructuringElement vaStructElem2 = new StructuringElement(3, 3, vaCoefficients2);
vaStructElem.Shape = StructuringElementShape.Square;
// Filters particles based on their size.
Algorithms.RemoveParticle(image, image, 5, SizeToKeep.KeepLarge, Connectivity.Connectivity8, vaStructElem2);
// Basic Morphology - Applies morphological transformations to binary images.
int[] vaCoefficients3 = { 0, 1, 0, 1, 1, 1, 0, 1, 0 };
StructuringElement vaStructElem3 = new StructuringElement(3, 3, vaCoefficients3);
vaStructElem.Shape = StructuringElementShape.Square;
// Applies morphological transformations
for (int i = 0; i < 3; ++i)
{
Algorithms.Morphology(image, image, MorphologyMethod.Erode, vaStructElem3);
}
// Advanced Morphology: Fill Holes
VisionImage image1 = new VisionImage();
Algorithms.FillHoles(image, image1, Connectivity.Connectivity8);
// Particle Analysis - Computes the number of particles detected in a binary image and
// returns the requested measurements about the particles.
Collection <MeasurementType> vaPixelMeasurements = new Collection <MeasurementType>(new MeasurementType[] { MeasurementType.Area });
Collection <MeasurementType> vaCalibratedMeasurements = new Collection <MeasurementType>(new MeasurementType[] { });
IVA_Particle(image1, Connectivity.Connectivity8, vaPixelMeasurements, vaCalibratedMeasurements, ivaData, 16, out vaParticleReport, out vaParticleReportCalibrated);
double[,] area = vaParticleReport.PixelMeasurements;
double Maxarea = 0;
for (int i = 0; i < area.GetLength(0); i++)
{
for (int j = 0; j < area.GetLength(1); j++)
{
if (area[i, j] > Maxarea)
{
Maxarea = area[i, j];
}
}
}
image1.Dispose();
if (Maxarea > 1000000)
{
// Creates a new, empty region of interest.
Roi roi3 = new Roi();
// Creates a new AnnulusContour using the given values.
PointContour vaCenter3 = new PointContour(1295, 963);
AnnulusContour vaOval3 = new AnnulusContour(vaCenter3, 496, 892, 0, 0);
roi3.Add(vaOval3);
// Reposition the region of interest based on the coordinate system.
int coordSystemIndex2 = 0;
Algorithms.TransformRoi(roi3, new CoordinateTransform(ivaData.baseCoordinateSystems[coordSystemIndex2], ivaData.MeasurementSystems[coordSystemIndex2]));
// Extract the contour edges from the image
CurveParameters vaCurveParams = new CurveParameters(ExtractionMode.NormalImage, 1, EdgeFilterSize.ContourTracing, 30, 20, 10, true);
double[] vaConstraintMinArray = { };
double[] vaConstraintMaxArray = { };
ConnectionConstraintType[] vaConstraintTypeArray = { };
ExtractContourReport vaExtractReport = IVA_ExtractContour(image, roi3, ExtractContourDirection.AnnulusOuterInner, vaCurveParams, vaConstraintTypeArray, vaConstraintMinArray, vaConstraintMaxArray, ExtractContourSelection.Closest);
// Fit a circle to the contour
ContourOverlaySettings vaEquationOverlay = new ContourOverlaySettings(true, Rgb32Value.GreenColor, 1, true);
ContourOverlaySettings vaPointsOverlay = new ContourOverlaySettings(true, Rgb32Value.RedColor, 1, true);
PartialCircle vaCircleReport = Algorithms.ContourFitCircle(image, 100, true);
Algorithms.ContourOverlay(image, image, vaPointsOverlay, vaEquationOverlay);
ComputeDistanceReport vaDistanceReport = Algorithms.ContourComputeDistances(image, image, 0);
MaxDistance = 0;
MaxDistanceIndex = 0;
for (int i = 0; i < vaDistanceReport.Distances.Count; i++)
{
if (vaDistanceReport.Distances[i].Distance > MaxDistance)
{
MaxDistance = vaDistanceReport.Distances[i].Distance;
MaxDistanceIndex = i;
}
}
var pos = vaDistanceReport.Distances[MaxDistanceIndex];
distance[0] = MaxDistance;
roi3.Dispose();
// Creates a new, empty region of interest.
Roi roi4 = new Roi();
// Creates a new AnnulusContour using the given values.
PointContour vaCenter4 = new PointContour(1294, 962);
AnnulusContour vaOval4 = new AnnulusContour(vaCenter4, 499, 885, 0, 0);
roi4.Add(vaOval4);
// Reposition the region of interest based on the coordinate system.
int coordSystemIndex3 = 0;
Algorithms.TransformRoi(roi4, new CoordinateTransform(ivaData.baseCoordinateSystems[coordSystemIndex3], ivaData.MeasurementSystems[coordSystemIndex3]));
// Extract the contour edges from the image
CurveParameters vaCurveParams2 = new CurveParameters(ExtractionMode.NormalImage, 1, EdgeFilterSize.ContourTracing, 30, 25, 10, true);
double[] vaConstraintMinArray2 = { };
double[] vaConstraintMaxArray2 = { };
ConnectionConstraintType[] vaConstraintTypeArray2 = { };
ExtractContourReport vaExtractReport2 = IVA_ExtractContour(image, roi4, ExtractContourDirection.AnnulusInnerOuter, vaCurveParams2, vaConstraintTypeArray2, vaConstraintMinArray2, vaConstraintMaxArray2, ExtractContourSelection.Closest);
// Fit a circle to the contour
ContourOverlaySettings vaEquationOverlay2 = new ContourOverlaySettings(true, Rgb32Value.GreenColor, 1, true);
ContourOverlaySettings vaPointsOverlay2 = new ContourOverlaySettings(true, Rgb32Value.RedColor, 1, true);
PartialCircle vaCircleReport2 = Algorithms.ContourFitCircle(image, 100, true);
Algorithms.ContourOverlay(image, image, vaPointsOverlay2, vaEquationOverlay2);
ComputeDistanceReport vaDistanceReport2 = Algorithms.ContourComputeDistances(image, image, 0);
MaxDistance1 = 0;
MaxDistanceIndex1 = 0;
for (int i = 0; i < vaDistanceReport2.Distances.Count; i++)
{
if (vaDistanceReport2.Distances[i].Distance > MaxDistance1)
{
MaxDistance1 = vaDistanceReport2.Distances[i].Distance;
MaxDistanceIndex1 = i;
}
}
var pos1 = vaDistanceReport2.Distances[MaxDistanceIndex1];
distance[1] = MaxDistance1;
distance[2] = (vaCircleReport2.Center.X - vaCircularEdgeReport.Center.X) / 96;
distance[3] = (vaCircleReport2.Center.Y - vaCircularEdgeReport.Center.Y) / 96;
roi4.Dispose();
}
else
{
distance[0] = 9999;
distance[1] = 9999;
distance[2] = 9999;
distance[3] = 9999;
}
// Dispose the IVA_Data structure.
ivaData.Dispose();
if (path == $"{ @"./ImageTemp/temp.jpg"}")
{
image.Dispose();
}
// Return the palette type of the final image.
return(PaletteType.Binary);
}
