public override VisionResult Detected(VisionImage image, Dictionary <string, VisionResult> Result = null, VisionFlow parent = null, Shape newRoi = null)
{
VisionResult rtn = new VisionResult();
rtn.State = VisionResultState.WaitCal;
try
{
if (parent.Detects.Count > 0 && Result != null)
{
if (Result.ContainsKey(this.Line1ID) &&
Result.ContainsKey(this.Line2ID))
{
rtn.Point = Algorithms.FindIntersectionPoint(Result[this.Line1ID].Line, Result[this.Line2ID].Line);
image.Overlays.Default.AddPoint(rtn.Point, Rgb32Value.RedColor, new PointSymbol(PointSymbolType.Cross));
this.AddVisionResc(rtn, $"焦点({rtn.Point.X:n2},{rtn.Point.Y:n2})");
rtn.State = VisionResultState.OK;
}
}
else
{
rtn.State = VisionResultState.NG;
}
}
catch (Exception ex)
{
this.AddVisionResc(rtn, ex.Message);
rtn.State = VisionResultState.NG;
}
return(rtn);
}
public override VisionResult Detected(VisionImage image, Dictionary <string, VisionResult> Result = null, VisionFlow parent = null, Shape newRoi = null)
{
VisionResult rtn = new VisionResult();
rtn.State = VisionResultState.WaitCal;
if (parent != null && Result != null)
{
if (Result.ContainsKey(this.StartPt) && Result.ContainsKey(this.EndPt))
{
rtn.Line = new LineContour(Result[this.StartPt].Point, Result[this.EndPt].Point);
image.Overlays.Default.AddLine(rtn.Line, Rgb32Value.GreenColor);
rtn.Angle = Common.MathHelper.GetAngle(rtn.Line.Start.X, rtn.Line.Start.Y, rtn.Line.End.X, rtn.Line.End.Y);
}
this.AddVisionResc(rtn, "拟合直线成功");
rtn.State = VisionResultState.OK;
}
else
{
this.AddVisionResc(rtn, "拟合直线失败");
rtn.State = VisionResultState.NG;
}
return(rtn);
}
public override VisionResult Detected(VisionImage image, Dictionary <string, VisionResult> Result = null, VisionFlow parent = null, Shape newRoi = null)
{
VisionResult rtn = new VisionResult();
try
{
var roi = this.ROI.ConvertToRoi();
if (parent != null && Result != null && !string.IsNullOrEmpty(parent.OrgCrood) && Result.ContainsKey(parent.OrgCrood))
{
CoordinateSystem old = new CoordinateSystem(parent.OrgPoint, parent.BaseAngle);
CoordinateSystem newCrood = new CoordinateSystem(Result[parent.OrgCrood].Point, Result[parent.OrgCrood].Angle);
Algorithms.TransformRoi(roi, new CoordinateTransform(old, newCrood));
}
var op2 = (this.OptionList[0] as DetectEdgeOptions).Options;
var op1 = (this.OptionList[1] as DetectStraightEdgeOptions).Options;
StraightEdgeReport report = Algorithms.StraightEdge2(image, roi, this.SearchDir, op2, op1, this.OptimizedMode);
image.Overlays.Default.AddRectangle(roi.GetBoundingRectangle(), Rgb32Value.BlueColor);
if (report.StraightEdges.Count > 0)
{
rtn.Line = report.StraightEdges[0].StraightEdge;
image.Overlays.Default.AddLine(rtn.Line, Rgb32Value.YellowColor);
rtn.Angle = Common.MathHelper.GetAngle(rtn.Line.Start.X, rtn.Line.Start.Y, rtn.Line.End.X, rtn.Line.End.Y);
if (this.SearchDir == SearchDirection.LeftToRight || this.SearchDir == SearchDirection.RightToLeft)
{
if (rtn.Angle > 0)
{
rtn.Angle = 90 - rtn.Angle;
}
else if (rtn.Angle < 0)
{
rtn.Angle = 90 + rtn.Angle;
}
}
else
{
rtn.Angle = -rtn.Angle;
}
this.AddVisionResc(rtn, $"侦测直线成功 角度:{rtn.Angle}");
rtn.State = VisionResultState.OK;
}
else
{
this.AddVisionResc(rtn, "侦测直线失败");
rtn.State = VisionResultState.NG;
}
}
catch (Exception ex)
{
this.AddVisionResc(rtn, ex.Message);
rtn.State = VisionResultState.NG;
}
return(rtn);
}
public override VisionResult Detected(VisionImage image, Dictionary <string, VisionResult> Result = null, VisionFlow parent = null, Shape newRoi = null)
{
VisionResult rtn = new VisionResult();
rtn.State = VisionResultState.WaitCal;
try
{
if (parent != null && image != null && Result != null)
{
Collection <PointContour> pt = new Collection <PointContour>();
if (CrossList.Count >= 3)
{
for (int i = 0; i < CrossList.Count; ++i)
{
if (Result.ContainsKey(this.CrossList[i]))
{
pt.Add(Result[this.CrossList[i]].Point);
}
else
{
return(rtn);
}
}
FitCircleReport report = Algorithms.FitCircle(pt);
rtn.Point = report.Center;
this.AddVisionResc(rtn, "拟合成功");
image.Overlays.Default.AddOval(report.Circle, Rgb32Value.RedColor);
image.Overlays.Default.AddPoint(rtn.Point, Rgb32Value.RedColor);
image.Overlays.Default.AddRoi(report.Circle.ConvertToRoi());
rtn.State = VisionResultState.OK;
}
else
{
this.AddVisionResc(rtn, "拟合点数据少于3");
rtn.State = VisionResultState.NG;
}
}
else
{
throw new Exception("没有找到对应结果");
}
}
catch (Exception ex)
{
this.AddVisionResc(rtn, ex.Message);
rtn.State = VisionResultState.NG;
}
return(rtn);
}
/// <summary>
/// 计算结果
/// </summary>
/// <returns></returns>
public VisionResult Detect(VisionImage image, Shape InitRoi = null, int textOffset = 0)
{
VisionResult rtn = new VisionResult();
rtn.State = VisionResultState.WaitCal;
Dictionary <string, VisionResult> Result = new Dictionary <string, VisionResult>();
foreach (Detect func in this.Detects)
{
var result = func.Detected(image, Result, this, InitRoi);
Result.Add(func.UnitID, result);
rtn.VisionDesr.AddRange(result.VisionDesr);
if (result.State == VisionResultState.NG)
{
rtn.State = VisionResultState.NG;
return(rtn);
}
}
OverlayTextOptions TEXT = new OverlayTextOptions();
TEXT.FontName = "Consolas";
TEXT.FontSize = 128;
if (!string.IsNullOrEmpty(this.ResultX) && Result.ContainsKey(this.ResultX))
{
rtn.Point = new PointContour();
rtn.Point.X = Result[this.ResultX].Point.X;
image.Overlays.Default.AddText($"X:{rtn.Point.X:N2}", new PointContour(50 + textOffset, 100), Rgb32Value.BlueColor, TEXT);
}
if (!string.IsNullOrEmpty(this.ResultX) && Result.ContainsKey(this.ResultY))
{
rtn.Point.Y = Result[this.ResultY].Point.Y;
image.Overlays.Default.AddText($"Y:{rtn.Point.Y:N2}", new PointContour(50 + textOffset, 180), Rgb32Value.BlueColor, TEXT);
}
if (!string.IsNullOrEmpty(this.Angle) && Result.ContainsKey(this.Angle))
{
rtn.Angle = Result[this.Angle].Angle;
image.Overlays.Default.AddText($"Angle:{rtn.Angle:N2}", new PointContour(50 + textOffset, 260), Rgb32Value.BlueColor, TEXT);
}
if (!string.IsNullOrEmpty(this.Area) && Result.ContainsKey(this.Area))
{
rtn.Area = Result[this.ResultX].Area;
image.Overlays.Default.AddText($"Area:{rtn.Area:N2}", new PointContour(50 + textOffset, 340), Rgb32Value.BlueColor, TEXT);
}
rtn.State = VisionResultState.OK;
return(rtn);
}
public override VisionResult Detected(VisionImage image, Dictionary <string, VisionResult> Result = null, VisionFlow parent = null, Shape newRoi = null)
{
VisionResult rtn = new VisionResult();
rtn.State = VisionResultState.WaitCal;
try
{
var op1 = (this.OptionList[0] as DetectCurveOptions).Options;
var roi = this.ROI;
if (newRoi != null)
{
roi = newRoi;
}
Collection <GeometricEdgeBasedPatternMatch> report = null;
lock (locked)
{
report = Algorithms.MatchGeometricPatternEdgeBased(image, this.Temp, op1, DetectGeometric.MatchOptions, roi.ConvertToRoi());
}
if (report.Count > 0)
{
report[0].Rotation = this.AdjuestAngle(report[0].Rotation);
rtn.Point = report[0].Position;
rtn.Angle = report[0].Rotation;
image.Overlays.Default.AddPoint(rtn.Point, Rgb32Value.RedColor, new PointSymbol(PointSymbolType.Cross));
foreach (var match in report)
{
image.Overlays.Default.AddPolygon(new PolygonContour(match.Corners), Rgb32Value.BlueColor);
}
this.AddVisionResc(rtn, $"边缘匹配成功 角度:{rtn.Angle}");
rtn.State = VisionResultState.OK;
}
else
{
this.AddVisionResc(rtn, "边缘匹配失败");
rtn.State = VisionResultState.NG;
}
}
catch (Exception ex)
{
this.AddVisionResc(rtn, ex.Message);
rtn.State = VisionResultState.NG;
}
return(rtn);
}
public override VisionResult Detected(VisionImage image, Dictionary <string, VisionResult> Result = null, VisionFlow parent = null, Shape newRoi = null)
{
VisionResult rtn = new VisionResult();
rtn.State = VisionResultState.WaitCal;
try
{
Collection <RotationAngleRange> list = new Collection <RotationAngleRange>();
list.Add(new RotationAngleRange(this.MinAngle, this.MaxAngle));
list.Add(new RotationAngleRange(0, 0));
var roi = this.ROI;
if (newRoi != null)
{
roi = newRoi;
}
Collection <PatternMatchReport> report = null;
lock (locked)
{
report = Algorithms.MatchPattern3(image, this.Temp, this.MatchingAlgorithm, 1, this.MinScore, list, roi.ConvertToRoi(), PatternOption);
}
if (report.Count > 0)
{
rtn.Point = report[0].Position;
rtn.Angle = this.AdjuestAngle(report[0].Rotation);
foreach (PatternMatchReport match in report)
{
image.Overlays.Default.AddPolygon(new PolygonContour(match.Corners), Rgb32Value.BlueColor);
}
image.Overlays.Default.AddPoint(report[0].Position);
rtn.Point.X = report[0].Position.X;
rtn.Point.Y = report[0].Position.Y;
this.AddVisionResc(rtn, $"灰度匹配成功 角度:{rtn.Angle}");
rtn.State = VisionResultState.OK;
}
else
{
this.AddVisionResc(rtn, "匹配失败");
rtn.State = VisionResultState.NG;
}
}
catch (Exception ex)
{
this.AddVisionResc(rtn, ex.Message);
rtn.State = VisionResultState.NG;
}
return(rtn);
}
/// <summary>
/// 找圆
/// </summary>
/// <param name="image"></param>
/// <param name="roi"></param>
/// <returns></returns>
public override VisionResult Detected(VisionImage image, Dictionary <string, VisionResult> Result = null, VisionFlow parent = null, Shape newRoi = null)
{
VisionResult rtn = new VisionResult();
rtn.State = VisionResultState.WaitCal;
try
{
var op1 = (this.OptionList[0] as DetectCurveOptions).Options;
var roi = this.ROI.ConvertToRoi();
if (parent != null && Result != null && !string.IsNullOrEmpty(parent.OrgCrood) && Result.ContainsKey(parent.OrgCrood))
{
CoordinateSystem old = new CoordinateSystem(parent.OrgPoint);
CoordinateSystem newCrood = new CoordinateSystem(Result[parent.OrgCrood].Point);
Algorithms.TransformRoi(roi, new CoordinateTransform(old, newCrood));
}
else if (newRoi != null)
{
roi = newRoi.ConvertToRoi();
}
CircleDescriptor dsec = new CircleDescriptor(new Range(this.MinRadius, this.MaxRadius));
var circles = Algorithms.DetectCircles(image, dsec, roi, op1);
if (circles.Count > 0)
{
image.Overlays.Default.AddOval(circles[0].Circle, Rgb32Value.RedColor);
image.Overlays.Default.AddPoint(circles[0].Center, Rgb32Value.RedColor);
this.AddVisionResc(rtn, $"半径[{circles[0].Radius:N2}] 侦测到个数{circles.Count}");
rtn.Point = circles[0].Center;
rtn.State = VisionResultState.OK;
}
else
{
this.AddVisionResc(rtn, "没有侦测到圆");
rtn.State = VisionResultState.NG;
}
}
catch (VisionException ex)
{
this.AddVisionResc(rtn, ex.Message);
rtn.State = VisionResultState.NG;
}
return(rtn);
}
public override VisionResult Detected(VisionImage image, Dictionary <string, VisionResult> Result = null, VisionFlow parent = null, Shape newRoi = null)
{
VisionResult rtn = new VisionResult();
rtn.State = VisionResultState.WaitCal;
try
{
if (parent.Detects.Count > 0 && Result != null)
{
if (parent.ResultX != string.Empty &&
parent.ResultY != string.Empty &&
parent.Angle != string.Empty &&
Result.ContainsKey(parent.ResultX) &&
Result.ContainsKey(parent.ResultY) &&
Result.ContainsKey(parent.Angle))
{
PointContour center = new PointContour(Result[parent.ResultX].Point.X, Result[parent.ResultX].Point.Y);
PointContour offset = new PointContour(center.X + this.OffsetX, center.Y + this.OffsetY);
PointContour output = new PointContour();
this.PtRotate(offset, center, Result[parent.Angle].Angle - this.BaseAngle, out output);
Result[parent.ResultX].Point.X = output.X;
Result[parent.ResultY].Point.Y = output.Y;
rtn.Point = output;
image.Overlays.Default.AddPoint(output, Rgb32Value.YellowColor, new PointSymbol(PointSymbolType.Cross));
this.AddVisionResc(rtn, $"焦点({rtn.Point.X:n2},{rtn.Point.Y:n2})");
rtn.State = VisionResultState.OK;
}
}
else
{
rtn.State = VisionResultState.NG;
}
}
catch (Exception ex)
{
this.AddVisionResc(rtn, ex.Message);
rtn.State = VisionResultState.NG;
}
return(rtn);
}
public override VisionResult Detected(VisionImage image, Dictionary <string, VisionResult> Result = null, VisionFlow parent = null, Shape newRoi = null)
{
VisionResult rtn = new VisionResult();
rtn.State = VisionResultState.WaitCal;
try
{
image.Type = ImageType.U16;
PixelValue va1 = this.SetPixelValue(image.Type, (float)this.Gain, 0, 0, 0);
Algorithms.Multiply(image, va1, image);
PixelValue va2 = this.SetPixelValue(image.Type, (float)this.Offset, 0, 0, 0);
Algorithms.Subtract(image, va2, image);
Algorithms.Cast(image, image, ImageType.U8, -1);
this.AddVisionResc(rtn, "增强成功");
rtn.State = VisionResultState.OK;
}
catch (Exception ex)
{
this.AddVisionResc(rtn, ex.Message);
rtn.State = VisionResultState.NG;
}
return(rtn);
}
public override VisionResult Detected(VisionImage image, Dictionary <string, VisionResult> Result = null, VisionFlow parent = null, Shape newRoi = null)
{
VisionResult rtn = new VisionResult();
rtn.State = VisionResultState.WaitCal;
try
{
lock (locked)
{
using (VisionImage temp = new VisionImage())
{
var roi = this.ROI;
if (newRoi != null)
{
roi = newRoi;
}
using (HImage hImage = VisionHelper.Image(image))
{
RectangleContour rect = roi as RectangleContour;
using (HImage reduceImage = hImage.ReduceDomain(
new HRegion(rect.Top, rect.Left,
rect.Top + rect.Height,
rect.Left + rect.Width)))
{
HTuple numLevels = new HTuple();
numLevels.TupleAdd(this.MaxNumLevels);
numLevels.TupleAdd(this.MinNumLevels);
HTuple row, col, scaleX, scaleY, score, angle;
reduceImage.FindAnisoShapeModel(this.ShapeModel,
this.StartAngle, this.EndAngle - this.StartAngle,
this.YMinScale, this.YMaxScale,
this.XMinScale, this.XMaxScale,
this.MinScore, 1, this.MaxOverlap,
this.Pixel.ToString(),
0,
this.Greediness,
out row, out col, out angle, out scaleY, out scaleX, out score);
if (score.Length > 0)
{
rtn.State = VisionResultState.OK;
image.Overlays.Default.AddLine
(new LineContour(new PointContour(col.D - 50, row.D), new PointContour(col.D + 50, row.D)), Rgb32Value.RedColor);
image.Overlays.Default.AddLine
(new LineContour(new PointContour(col.D, row.D - 50), new PointContour(col.D, row.D + 50)), Rgb32Value.RedColor);
rtn.Point = new PointContour(col.D, row.D);
rtn.Angle = angle.TupleDeg().D;
this.AddVisionResc(rtn, $"轮廓匹配成功 角度:{rtn.Angle:N3} 分数:{score[0].D:N3}");
}
else
{
rtn.State = VisionResultState.NG;
this.AddVisionResc(rtn, $"没有找到匹配模板");
}
}
}
}
}
}
catch (HalconException ex)
{
this.AddVisionResc(rtn, $"轮廓匹配失败 {ex.GetErrorMessage()}");
}
return(rtn);
}
public override VisionResult Detected(VisionImage image, Dictionary <string, VisionResult> Result = null, VisionFlow parent = null, Shape newRoi = null)
{
VisionResult rtn = new VisionResult();
rtn.State = VisionResultState.WaitCal;
try
{
using (HImage hImage = VisionHelper.Image(image))
{
var roi = this.ROI;
if (newRoi != null)
{
roi = newRoi;
}
RectangleContour rect = roi as RectangleContour;
using (HImage reduceImage = hImage.ReduceDomain(
new HRegion(rect.Top, rect.Left,
rect.Top + rect.Height,
rect.Left + rect.Width)))
{
HRegion hRegion = new HRegion();
hRegion = reduceImage.Threshold(this.MinThreshold, this.MaxThreshold);
rtn.Area = hRegion.Area.D;
this.AddVisionResc(rtn, $"面积侦测成功 面积值:{rtn.Area:N3}");
rtn.State = VisionResultState.OK;
}
}
//using (VisionImage imageMask = new VisionImage(ImageType.U8, 7))
//{
// using (VisionImage image2Process = new VisionImage(ImageType.U8, 7))
// {
// //Algorithms.Copy(image, image2Process);
// Algorithms.Threshold(image, image2Process, new Range(this.Threshold, 255), true, 255);
// PixelValue fillValue = new PixelValue(255);
// Range intervalRange = new Range(0, 0);
// var roi = this.ROI;
// if (newRoi != null)
// roi = newRoi;
// Algorithms.RoiToMask(imageMask, roi.ConvertToRoi(), fillValue, image2Process);
// HistogramReport a = new HistogramReport();
// a = Algorithms.Histogram(image2Process, 256, intervalRange, imageMask);
// image2Process?.Dispose();
// imageMask?.Dispose();
// if (a.Histogram.Count >= 256)
// {
// if (CheckWhite)
// rtn.Area = a.Histogram[255];//白色区域面积
// else
// rtn.Area = a.Histogram[0];//黑色区域面积
// }
// this.AddVisionResc(rtn, $"面积:{rtn.Area}");
// rtn.State = VisionResultState.OK;
// }
//}
}
catch (VisionException ex)
{
this.AddVisionResc(rtn, ex.Message);
rtn.State = VisionResultState.NG;
}
return(rtn);
}
public void AddVisionResc(VisionResult rtn, string desr)
{
rtn.VisionDesr.Add($"[{this.UnitID}]---{desr}");
}
public override VisionResult Detected(VisionImage image, Dictionary <string, VisionResult> Result = null, VisionFlow parent = null, Shape newRoi = null)
{
VisionResult rtn = new VisionResult();
rtn.State = VisionResultState.WaitCal;
if (ROI == null || image == null)
{
rtn.State = VisionResultState.NG;
return(rtn);
}
try
{
using (VisionImage temp = new VisionImage())
{
var roi = this.ROI;
if (newRoi != null)
{
roi = newRoi;
}
using (HImage hImage = VisionHelper.Image(image))
{
RectangleContour rect = roi as RectangleContour;
using (HImage reduceImage = hImage.ReduceDomain(
new HRegion(rect.Top, rect.Left,
rect.Top + rect.Height,
rect.Left + rect.Width)))
{
string code = string.Empty;
switch (CodeType)
{
case CodeType.Code_2D_Mat:
code = "Data Matrix ECC 200";
break;
case CodeType.Code_QR:
code = "QR Code";
break;
}
using (HDataCode2D code2D = new HDataCode2D(code, "default_parameters", "maximum_recognition"))
{
HTuple result = new HTuple();
HTuple resultString = new HTuple();
code2D.FindDataCode2d(reduceImage, "stop_after_result_num", 1, out result, out resultString);
if (resultString.Length > 0)
{
rtn.BarCode = resultString.SArr[0];
this.AddVisionResc(rtn, $"条码寻找成功:{rtn.BarCode}");
rtn.State = VisionResultState.OK;
image.Overlays.Default.AddText(rtn.BarCode, new PointContour(rect.Left, rect.Top), Rgb32Value.BlueColor, new OverlayTextOptions("Consolas", 128));
}
else
{
rtn.State = VisionResultState.NG;
this.AddVisionResc(rtn, $"没有找到条码");
}
}
}
}
}
}
catch (HalconException ex)
{
this.AddVisionResc(rtn, $"没有找到条码 {ex.GetErrorMessage()}");
}
return(rtn);
}
