public void UpdateCurrImage(HObject img, St_VectorAngle TempFindVectorAngleIn, LocalPara LocalParaIn)
{
if (GrabedImg != null)
{
GrabedImg.Dispose();
}
HOperatorSet.CopyImage(img, out GrabedImg);
TeachFindVectorAngle = TempFindVectorAngleIn;
LocalPara0 = LocalParaIn;
}
//LocalPara VisionParaIn, St_BlobInspectParam1 blobInSpectParam, HWindow InHWindow, HObject ImgIn, Action<bool> drawRoiInHWindow
public SubFrmRecheck(LocalPara VisionParaIn, St_InspectImageSetting setting, ViewControl viewIn, HObject ImgIn, Action <bool> drawRoiInHWindow)
{
InitializeComponent();
TeachLocalPara = VisionParaIn;
InspectImageSetting = setting;
if (ImgIn != null && ImgIn.IsInitialized())
{
GrabedImg = ImgIn;
}
myView = viewIn;
ActionIsDrawingRoi = drawRoiInHWindow;
}
private void StartCaliBtn_Click(object sender, EventArgs e)
{
System.Threading.Tasks.Task.Factory.StartNew(new Action(() => {
try {
#region
List <Point2Db> PixelPtList = new List <Point2Db>();//像素点的坐标集合
LocalPara NowLocalPara = TeachCaliPara.localPara;
RectangleF RectFi = new RectangleF();
LocalManager MyLocal = new LocalManager(); //定位类初始化
LocalResult MyResult = new LocalResult();
Point2Db Pt = new Point2Db();
HObject CaliContour = new HObject();
HOperatorSet.GenEmptyObj(out CaliContour);
if (GrabedImg == null)
{
MessageBox.Show(" 请先加载一张图片");
return;
}
for (int i = 0; i < TeachCaliPara.ListRectRegion.Count; i++)
{
RectFi = TeachCaliPara.ListRectRegion[i];
TeachCaliPara.localPara.localSetting.SearchAreaX = (int)RectFi.X;
TeachCaliPara.localPara.localSetting.SearchAreaY = (int)RectFi.Y;
TeachCaliPara.localPara.localSetting.SearchWidth = (int)RectFi.Width;
TeachCaliPara.localPara.localSetting.SearchHeight = (int)RectFi.Height;
MyLocal.SetLocalModel(TeachCaliPara.localPara.localSetting.localModel);
MyLocal.SetParam(GrabedImg, TeachCaliPara.localPara);
MyLocal.doLocal();
MyResult = MyLocal.GetResult();
CaliContour = CaliContour.ConcatObj(MyResult.ShowContour);
//GetCaliMarkPts1(GrabedImg, MinGray, MaxGray, MarkR, out ContourU, out ListMarkCenterI); //找出Mark点
HObject CenterContour = new HObject();
HOperatorSet.GenCrossContourXld(out CenterContour, MyResult.row, MyResult.col, 50, 0); //生成找到的圆心轮廓
HOperatorSet.ConcatObj(CaliContour, CenterContour, out CaliContour);
Pt.Col = MyResult.col;
MyVisionBase.AdjImgRow(GrabedImg, ref MyResult.row);
Pt.Row = MyResult.row;
PixelPtList.Add(Pt);
view1.Refresh();
view1.AddViewImage(GrabedImg);
view1.AddViewObject(CaliContour);
view1.Repaint();
}
#endregion
bool IsTrue = true;
MyVisionBase.VectorToHomMat(PixelPtList, TeachCaliPara.ListPt2D, out TeachCaliPara.HomMat, out IsTrue);
}
catch
{ }
}));
}
public CaliParam()
{
this.camLightPara = new CameraLightPara();
this.localPara = new LocalPara();
this.AngleRange = 10.0;
this.StartCaliPt = new Point3Db();
this.EndCaliPt = new Point3Db();
this.IsMoveX = false;
this.IsMoveY = false;
this.caliModel = CaliModelEnum.HandEyeCali;
this.HomMat = new MyHomMat2D();
this.ListRectRegion = new List <RectangleF>();
this.ListPt2D = new List <Point2Db>();
this.cam = CameraEnum.Cam0;
this.describe = "未定义";
this.CoordiCam = CoordiCamHandEyeMatEnum.Coordi0Cam0;
}
private void FrmSubFrmFindLine_Load(object sender, EventArgs e)
{
if (LocalPara0 == null)
{
LocalPara0 = new LocalPara();
}
if (LocalPara0.localSetting.TeachCoordi == null)
{
LocalPara0.localSetting.TeachCoordi = CoordiEmum.Coordi0;
}
this.CoordiCbx.SelectedIndex = (int)LocalPara0.localSetting.TeachCoordi;
this.NumUpDn_offset_x_range.Value = (decimal)LocalPara0.localSetting.Offset_x_range;
this.NumUpDn_offset_y_range.Value = (decimal)LocalPara0.localSetting.Offset_y_range;
this.NumUpDn_offset_theta_range.Value = (decimal)LocalPara0.localSetting.Offset_theta_range;
this.NumUpDn_Offset_x.Value = (decimal)LocalPara0.localSetting.Offset_x;
this.NumUpDn_Offset_y.Value = (decimal)LocalPara0.localSetting.Offset_y;
this.NumUpDn_Offset_thta.Value = (decimal)LocalPara0.localSetting.Offset_theta;
this.GrabPosTbx.Text = "X:" + LocalPara0.localSetting.GrabPosTeach.x.ToString("f2")
+ " Y:" + LocalPara0.localSetting.GrabPosTeach.y.ToString("f2")
+ " Theta:" + LocalPara0.localSetting.GrabPosTeach.angle.ToString("f2");
this.CoordiCbx.SelectedIndexChanged += new System.EventHandler(this.CoordiCbx_SelectedIndexChanged);
}
public void UpDatePara(LocalPara ParaIn)
{
LocalPara0 = ParaIn;
if (LocalPara0 == null)
{
LocalPara0 = new LocalPara();
}
if (LocalPara0.localSetting.TeachCoordi == null)
{
LocalPara0.localSetting.TeachCoordi = CoordiEmum.Coordi0;
}
this.CoordiCbx.SelectedIndex = (int)LocalPara0.localSetting.TeachCoordi;
NumUpDn_offset_x_range.Value = (decimal)LocalPara0.localSetting.Offset_x_range;
NumUpDn_offset_y_range.Value = (decimal)LocalPara0.localSetting.Offset_y_range;
NumUpDn_offset_theta_range.Value = (decimal)LocalPara0.localSetting.Offset_theta_range;
NumUpDn_Offset_x.Value = (decimal)LocalPara0.localSetting.Offset_x;
NumUpDn_Offset_y.Value = (decimal)LocalPara0.localSetting.Offset_y;
NumUpDn_Offset_thta.Value = (decimal)LocalPara0.localSetting.Offset_theta;
GrabPosTbx.Text = "X:" + LocalPara0.localSetting.GrabPosTeach.x.ToString("f2")
+ " Y:" + LocalPara0.localSetting.GrabPosTeach.y.ToString("f2")
+ " Theta:" + LocalPara0.localSetting.GrabPosTeach.angle.ToString("f2");
}
public virtual void SetLocalPara(LocalPara LocalParaIn)
{
NowVisionPara = LocalParaIn;
}
public virtual void Set(HObject ImgIn, LocalPara LocalParaIn)
{
NowImg = ImgIn;
NowVisionPara = LocalParaIn;
}
public FrmLocalParaTeach(LocalPara LocalParaIn)
{
InitializeComponent();
TeachLocalPara = LocalParaIn;
}
public void UpDatePara(LocalPara ParaIn)
{
LocalPara0 = ParaIn;
}
public void SetLocalPara(LocalPara VisionParaIn)
{
MyLocal.SetLocalPara(VisionParaIn);
}
/// <summary>
/// 传入图片和检测参数
/// </summary>
/// <param name="ImgIn"></param>
/// <param name="VisionParaIn"></param>
public void SetParam(HObject ImgIn, LocalPara VisionParaIn)
{
MyLocal.Set(ImgIn, VisionParaIn);
}
public void UpDatePara(LocalPara ParaIn)
{
TeachLoclPara = ParaIn;
}
