private void Get_Center_Click(object sender, EventArgs e)
{
using (Mat img1 = CvInvoke.Imread(LinkImg1, Emgu.CV.CvEnum.ImreadModes.Grayscale))
{
using (Mat img2 = CvInvoke.Imread(LinkImg2, Emgu.CV.CvEnum.ImreadModes.Grayscale))
{
using (Mat img3 = CvInvoke.Imread(LinkImg3, Emgu.CV.CvEnum.ImreadModes.Grayscale))
{
Image <Gray, byte> iGray1 = img1.ToImage <Gray, byte>();
Image <Gray, byte> iGray2 = img2.ToImage <Gray, byte>();
Image <Gray, byte> iGray3 = img3.ToImage <Gray, byte>();
Point cRec1, cRec2, cRec3;
iGray1 = ComputerVison.RoiImage(iGray1, roi);
iGray2 = ComputerVison.RoiImage(iGray2, roi);
iGray3 = ComputerVison.RoiImage(iGray3, roi);
cRec1 = FindcRect(iGray1, 150);
cRec2 = FindcRect(iGray2, 150);
cRec3 = FindcRect(iGray3, 150);
Point midPoint1 = new Point((int)(cRec1.X + cRec2.X) / 2, (int)(cRec1.Y + cRec2.Y) / 2);
Point midPoint2 = new Point((int)(cRec3.X + cRec2.X) / 2, (int)(cRec3.Y + cRec2.Y) / 2);
result = CalculatorCenter(cRec1, cRec2, cRec3);
label2.Text = "Result:\n X: " + (result.X + roi.X).ToString() + "\n Y: " + (result.Y + roi.Y).ToString();
CvInvoke.Circle(iGray3, result, 10, new MCvScalar(255, 0, 255), 5);
pictureBox4.Image = iGray3.ToBitmap();
iGray1.Dispose();
iGray2.Dispose();
iGray3.Dispose();
}
}
}
//this.Close();
}
private void GetOriginImage()
{
try
{
using (Mat img = CvInvoke.Imread(@"img\origin.bmp", Emgu.CV.CvEnum.ImreadModes.Grayscale))
{
Image <Gray, byte> _img = img.ToImage <Gray, byte>();
_img = ComputerVison.RoiImage(_img, Config.Parameter.ROI);
VectorOfPoint cnt = new VectorOfPoint();
cnt = ComputerVison.FindContours(_img, Config.Parameter.THRESHOLD_VALUE);
RotatedRect a = CvInvoke.MinAreaRect(cnt);
ORGRec = a.MinAreaRect();
ORGRec.X += Config.Parameter.ROI.X - 10;
ORGRec.Y += Config.Parameter.ROI.Y - 10;
ORGRec.Height += 20;
ORGRec.Width += 20;
using (Image <Bgr, byte> iBgr2 = _img.Convert <Bgr, byte>())
{
CvInvoke.Rectangle(iBgr2, ORGRec, new MCvScalar(0, 255, 0), 3);
CvInvoke.Imwrite("img\\originRoi.bmp", iBgr2);
}
Point[] p = ComputerVison.Search2Tip(cnt);
ORG.SetPointA(p[0]);
ORG.SetPointB(p[1]);
cnt.Dispose();
_img.Dispose();
}
}
catch (Exception er)
{
MessageBox.Show(er.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
}
private void getOriginImageToolStripMenuItem_Click(object sender, EventArgs e)
{
p_imShow.Image = null;
UpdateParameter();
bool response = OpenCamera();
if (response == true)
{
using (Image <Bgr, byte> iBgr = GetImage())
{
p_imShow.Image = iBgr.ToBitmap();
DialogResult kq = MessageBox.Show("You Sure create new origin image?", "Warning", MessageBoxButtons.YesNo, MessageBoxIcon.Warning);
if (kq == DialogResult.Yes)
{
CvInvoke.Imwrite(@"img\origin.bmp", iBgr);
Image <Gray, byte> iGray = ComputerVison.RoiImage(iBgr.Convert <Gray, byte>(), Config.Parameter.ROI);
using (VectorOfPoint cnt = ComputerVison.FindContours(iGray, Config.Parameter.THRESHOLD_VALUE))
{
RotatedRect a = CvInvoke.MinAreaRect(cnt);
ORGRec = a.MinAreaRect();
using (Image <Bgr, byte> iBgr2 = iGray.Convert <Bgr, byte>())
{
CvInvoke.Rectangle(iBgr2, ORGRec, new MCvScalar(0, 255, 0), 3);
CvInvoke.Imwrite("img\\originRoi.bmp", iBgr2);
}
}
iGray.Dispose();
}
}
Camera.CloseDevice();
}
}
private Point FindcRect(Image <Gray, byte> img, int thresh_value)
{
Point cRect;
using (VectorOfPoint cnt = ComputerVison.FindContours(img, thresh_value))
{
RotatedRect rec1 = CvInvoke.MinAreaRect(cnt);
PointF cRec1F = rec1.Center;
cRect = Point.Round(cRec1F);
}
return(cRect);
}
private void Handling()
{
Response result = new Response();
string name = DateTime.Now.Year.ToString() + "_" + DateTime.Now.Month.ToString() + "_" + DateTime.Now.Day.ToString() + "_" + DateTime.Now.Hour.ToString() + "_" + DateTime.Now.Minute.ToString() + "_" + DateTime.Now.Second.ToString();
Light_Mode(modeCamera.Checked);
Thread.Sleep(500);
Image <Bgr, byte> iBgr = GetImage();
Light_Mode(false);
Image <Gray, byte> iGray = iBgr.Convert <Gray, byte>();
iGray = ComputerVison.RoiImage(iGray, Config.Parameter.ROI);
VectorOfPoint cnt = new VectorOfPoint();
Point[] p = new Point[2];
cnt = ComputerVison.FindContours(iGray, Config.Parameter.THRESHOLD_VALUE);
if (cnt != null)
{
p = ComputerVison.Search2Tip(cnt);
ComputerVison.Calculator(ref result, ORG.PointA, ORG.PointB, p[0], p[1], Config.Parameter.LabelSize.Width, false);
ComputerVison.RouPoint(ORG.PointO, ref p[0], result.ANGLE);
ComputerVison.RouPoint(ORG.PointO, ref p[1], result.ANGLE);
ComputerVison.Calculator(ref result, ORG.PointA, ORG.PointB, p[0], p[1], Config.Parameter.LabelSize.Width, true);
short y = (short)Math.Round(result.X * Config.Parameter.PULSE_Y + 150);
short x = (short)Math.Round(result.Y * Config.Parameter.PULSE_X + 20);
short z = (short)Math.Round(-result.ANGLE * Config.Parameter.PULSE_Z / 360);
if (modeCamera.Checked)
{
PLCCommunicate(x, y, z);
}
//log.Invoke(new MethodInvoker(delegate ()
//{
// log.Text = "X:" + x.ToString("F3") + " Y:" + y.ToString("F3") + " Angle:" + z.ToString();
//}));
iGray = iBgr.Convert <Gray, byte>();
ComputerVison.RotationImage(ref iGray, Config.Parameter.ROTATION_CENTER, (float)result.ANGLE);
cnt = ComputerVison.FindContours(iGray, Config.Parameter.THRESHOLD_VALUE);
using (Image <Bgr, byte> iBgr2 = iGray.Convert <Bgr, byte>())
{
if (cnt != null)
{
RotatedRect r = CvInvoke.MinAreaRect(cnt);
CvInvoke.Rectangle(iBgr2, r.MinAreaRect(), new MCvScalar(0, 255, 0), 3);
}
if (modeCamera.Checked)
{
CvInvoke.Imwrite(@"backup\" + name + ".bmp", iBgr);
CvInvoke.Imwrite(@"backup_H\" + name + "trans.bmp", iBgr2);
}
p_imShow.Invoke(new MethodInvoker(delegate()
{
p_imShow.Image = iBgr2.ToBitmap();
}));
}
cnt.Dispose();
}
else
{
using (Image <Bgr, byte> iBgr2 = iGray.Convert <Bgr, byte>())
{
CvInvoke.Rectangle(iBgr2, ORGRec, new MCvScalar(0, 255, 0), 3);
p_imShow.Invoke(new MethodInvoker(delegate()
{
p_imShow.Image = iBgr2.ToBitmap();
}));
}
DialogResult kq = MessageBox.Show("Not found label from images! You want to try again!", "Warning", MessageBoxButtons.YesNo, MessageBoxIcon.Warning);
if (kq == DialogResult.Yes)
{
iGray.Dispose();
iBgr.Dispose();
Handling();
}
else
{
result.ANGLE = 0;
result.X = 0;
result.Y = 0;
}
}
iGray.Dispose();
iBgr.Dispose();
}