public override bool doLocal()
{
try
{
NowResult = new LocalResult();
St_LinesParam LinesPara = new St_LinesParam(2);
LinesPara = NowVisionPara.Lines;
HTuple LineRow1 = new HTuple(), LineCol1 = new HTuple(), LineRow2 = new HTuple(), LineCol2 = new HTuple();
HObject LinesContour = new HObject(), LinePtCont = new HObject();
//找出所有的直线
LineTypePos.FindLine(LinesPara, NowImg, out LineRow1, out LineCol1, out LineRow2, out LineCol2, out LinesContour, out LinePtCont);
HTuple CrossRow = new HTuple(), CrossCol = new HTuple(), IsParallel = new HTuple();
//第一条直线和第二条直线的交点
HOperatorSet.IntersectionLl(LineRow1[0], LineCol1[0], LineRow2[0], LineCol2[0], LineRow1[1], LineCol1[1], LineRow2[1], LineCol2[1],
out CrossRow, out CrossCol, out IsParallel);
HTuple angle;
//图像坐标轴X轴到直线1的角度
HOperatorSet.AngleLx(LineRow1[0], LineCol1[0], LineRow2[0], LineCol2[0], out angle);
NowResult.row = CrossRow.D;
NowResult.col = CrossCol.D;
NowResult.angle = angle.D;
HOperatorSet.ConcatObj(LinesContour, LinePtCont, out LinesContour);
LinePtCont.Dispose();
NowResult.ShowContour = LinesContour;
return(true);
}
catch {
return(false);
}
}
private void GenVirtualBtn_Click(object sender, EventArgs e)
{
TryDebugBtn_Click(null, new EventArgs());
if (FindCircleRow.Length >= 2 && FindCircleCol.Length >= 2)
{
HTuple OutLineRow1 = new HTuple(), OutLineCol1 = new HTuple(), OutLineRow2 = new HTuple(), OutLineCol2 = new HTuple();
view1.ResetView();
view1.AddImage(GrabedImg);
//1.0找线
TryDebugBtn_Click(null, new EventArgs());
HTuple LineAngle = new HTuple();
HObject LineArrow = new HObject();
HObject LitCirCross = new HObject();
//2.0计算圆心连线与相机X轴的夹角
OutLineRow1 = FindCircleRow[0].D;
OutLineCol1 = FindCircleCol[0].D;
OutLineRow2 = FindCircleRow[1].D;
OutLineCol2 = FindCircleCol[1].D;
LineTypePos.CalculateLineAng(OutLineRow1, OutLineCol1, OutLineRow2, OutLineCol2, out LineAngle, out LineArrow);
LineAngle = LineAngle.D / Math.PI * 180.0;
HTuple LitCirRow = new HTuple(), LitCircol = new HTuple();
HTuple DistRr = (7.78 / 2.0) / 2.8 * FindCircleR[0].D;
//3.0生成虚拟圆的圆心
CircleTypePos.GenCirCenter(FindCircleRow[0].D, FindCircleCol[0].D, DistRr, out LitCirRow, out LitCircol);
HOperatorSet.GenCrossContourXld(out LitCirCross, LitCirRow, LitCircol, 60, 0);
view1.SetDraw("blue", "margin");
view1.AddViewObject(LineArrow);
view1.AddViewObject(LitCirCross);
HHomMat2D MyHomMat = new HHomMat2D();
MyHomMat = MyHomMat.HomMat2dRotate((TeachCirclePara.OffSetPixelTh + LineAngle) / 180.0 * Math.PI, FindCircleRow[0], FindCircleCol[0]);
//4.0旋转生成圆的圆心
MyHomMat.AffineTransPixel(LitCirRow, LitCircol, out LitCirRow, out LitCircol);
HOperatorSet.GenCrossContourXld(out LitCirCross, LitCirRow, LitCircol, 60, 0);
HObject FirstCirCont = new HObject(), SecondCirCont = new HObject();
HOperatorSet.GenCircleContourXld(out FirstCirCont, LitCirRow[0].D, LitCircol[0].D, 60, 0, 2 * Math.PI, "positive", 0.1);
HOperatorSet.GenCircleContourXld(out SecondCirCont, LitCirRow[1].D, LitCircol[1].D, 40, 0, 2 * Math.PI, "positive", 0.1);
HOperatorSet.ConcatObj(LitCirCross, FirstCirCont, out LitCirCross);
HOperatorSet.ConcatObj(LitCirCross, SecondCirCont, out LitCirCross);
view1.SetDraw("red", "margin");
view1.AddViewObject(LitCirCross);
}
}
public override bool doLocal()
{
try
{
NowResult = new LocalResult();
St_LinesParam LinesPara = new St_LinesParam(2);
LinesPara = NowVisionPara.Lines;
HTuple LineRow1 = new HTuple(), LineCol1 = new HTuple(), LineRow2 = new HTuple(), LineCol2 = new HTuple();
HObject LinesContour = new HObject(), LinePtCont = new HObject();
//找出所有的直线
LineTypePos.FindLine(LinesPara, NowImg, out LineRow1, out LineCol1, out LineRow2, out LineCol2, out LinesContour, out LinePtCont);
St_CirclesParam CirclesParam = new St_CirclesParam(2);
CirclesParam = NowVisionPara.Circles;
HTuple CircleRows = new HTuple(), CircleCols = new HTuple(), CircleRs = new HTuple(), StartPhis = new HTuple(), EndPhis = new HTuple();
HObject CircleContour = new HObject(), CircleCont = new HObject(), CenterCross = new HObject();
HTuple angle;
//图像坐标轴X轴到直线1的角度
HOperatorSet.AngleLx(LineRow1[0], LineCol1[0], LineRow2[0], LineCol2[0], out angle);
//找出要找的圆
CircleTypePos.FindCircle(NowImg, CirclesParam, out CircleRows, out CircleCols, out CircleRs, out StartPhis, out EndPhis,
out CircleContour, out CircleCont, out CenterCross);
HOperatorSet.ConcatObj(CircleContour, CircleCont, out CircleContour);
HOperatorSet.ConcatObj(CircleContour, CenterCross, out CircleContour);
CircleCont.Dispose();
CenterCross.Dispose();
HOperatorSet.ConcatObj(CircleContour, LinesContour, out CircleContour);
HOperatorSet.ConcatObj(CircleContour, LinePtCont, out CircleContour);
LinesContour.Dispose();
LinePtCont.Dispose();
NowResult.row = CircleRows[0].D;
NowResult.col = CircleCols[0].D;
NowResult.angle = angle.D;
NowResult.ShowContour = CircleContour;
return(true);
}
catch
{ return(false); }
}
