private static FindEdgeReport IVA_FindEdge(VisionImage image,
Roi roi,
RakeDirection direction,
EdgeOptions options,
StraightEdgeOptions straightEdgeOptions,
IVA_Data ivaData,
int stepIndex)
{
// First, delete all the results of this step (from a previous iteration)
Functions.IVA_DisposeStepResults(ivaData, stepIndex);
// Find the Edge
FindEdgeOptions edgeOptions = new FindEdgeOptions(direction);
edgeOptions.EdgeOptions = options;
edgeOptions.StraightEdgeOptions = straightEdgeOptions;
FindEdgeReport lineReport = new FindEdgeReport();
lineReport = Algorithms.FindEdge(image, roi, edgeOptions);
// If there was at least one line, get data
if (lineReport.StraightEdges.Count >= 1)
{
// Store the results in the data structure.
ivaData.stepResults[stepIndex].results.Add(new IVA_Result("Point 1.X Position (Pix.)", lineReport.StraightEdges[0].StraightEdge.Start.X));
ivaData.stepResults[stepIndex].results.Add(new IVA_Result("Point 1.Y Position (Pix.)", lineReport.StraightEdges[0].StraightEdge.Start.Y));
ivaData.stepResults[stepIndex].results.Add(new IVA_Result("Point 2.X Position (Pix.)", lineReport.StraightEdges[0].StraightEdge.End.X));
ivaData.stepResults[stepIndex].results.Add(new IVA_Result("Point 2.Y Position (Pix.)", lineReport.StraightEdges[0].StraightEdge.End.Y));
if ((image.InfoTypes & InfoTypes.Calibration) != 0)
{
ivaData.stepResults[stepIndex].results.Add(new IVA_Result("Point 1.X Position (World)", lineReport.StraightEdges[0].CalibratedStraightEdge.Start.X));
ivaData.stepResults[stepIndex].results.Add(new IVA_Result("Point 1.Y Position (World)", lineReport.StraightEdges[0].CalibratedStraightEdge.Start.Y));
ivaData.stepResults[stepIndex].results.Add(new IVA_Result("Point 2.X Position (World)", lineReport.StraightEdges[0].CalibratedStraightEdge.End.X));
ivaData.stepResults[stepIndex].results.Add(new IVA_Result("Point 2.Y Position (World)", lineReport.StraightEdges[0].CalibratedStraightEdge.End.Y));
}
ivaData.stepResults[stepIndex].results.Add(new IVA_Result("Angle", lineReport.StraightEdges[0].Angle));
if ((image.InfoTypes & InfoTypes.Calibration) != 0)
{
ivaData.stepResults[stepIndex].results.Add(new IVA_Result("Angle (World)", lineReport.StraightEdges[0].CalibratedAngle));
}
}
return(lineReport);
}
private void FindEdges()
{
if (imageViewer1.Roi.Count > 0)
{
// Use search direction selected.
RakeDirection direction = (RakeDirection)Enum.Parse(typeof(RakeDirection), (string)searchDirection.SelectedItem);
// Fill in the edge options structure from the controls on the form.
EdgeOptions edgeOptions = new EdgeOptions();
edgeOptions.ColumnProcessingMode = (ColumnProcessingMode)Enum.Parse(typeof(ColumnProcessingMode), (string)smoothing.SelectedItem);
edgeOptions.InterpolationType = (InterpolationMethod)Enum.Parse(typeof(InterpolationMethod), (string)interpolationMethod.SelectedItem);
edgeOptions.KernelSize = (uint)kernelSize.Value;
edgeOptions.MinimumThreshold = (uint)minimumThreshold.Value;
edgeOptions.Polarity = (EdgePolaritySearchMode)Enum.Parse(typeof(EdgePolaritySearchMode), (string)polarity.SelectedItem);
edgeOptions.Width = (uint)width.Value;
// Fill in the straight edge options structure from the controls on the form.
StraightEdgeOptions straightEdgeOptions = new StraightEdgeOptions();
straightEdgeOptions.AngleRange = (double)angleRange.Value;
straightEdgeOptions.AngleTolerance = (double)angleTolerance.Value;
straightEdgeOptions.HoughIterations = (uint)houghIterations.Value;
straightEdgeOptions.ScoreRange.Initialize((double)minimumScore.Value, (double)maximumScore.Value);
straightEdgeOptions.MinimumCoverage = (double)minimumCoverage.Value;
straightEdgeOptions.MinimumSignalToNoiseRatio = (double)minimumSignalToNoiseRatio.Value;
straightEdgeOptions.NumberOfLines = (uint)numberOfLines.Value;
straightEdgeOptions.Orientation = (double)orientation.Value;
straightEdgeOptions.SearchMode = (StraightEdgeSearchMode)Enum.Parse(typeof(StraightEdgeSearchMode), (string)searchMode.SelectedItem);
straightEdgeOptions.StepSize = (uint)stepSize.Value;
FindEdgeOptions options = new FindEdgeOptions(direction, true, true, true, true);
options.EdgeOptions = edgeOptions;
options.StraightEdgeOptions = straightEdgeOptions;
// Clear all overlays from previous run.
imageViewer1.Image.Overlays.Default.Clear();
// Run the edge detection.
FindEdgeReport report = Algorithms.FindEdge(imageViewer1.Image, imageViewer1.Roi, options);
}
}
public static PaletteType RectLeftPos(VisionImage image, Point pointoffset)
{
// Initialize the IVA_Data structure to pass results and coordinate systems.
IVA_Data ivaData = new IVA_Data(12, 1);
// Extract Color Plane
using (VisionImage plane = new VisionImage(ImageType.U8, 7))
{
// Extract the red color plane and copy it to the main image.
Algorithms.ExtractColorPlanes(image, ColorMode.Rgb, plane, null, null);
Algorithms.Copy(plane, image);
}
// Creates a new, empty region of interest.
Roi roi = new Roi();
// Creates a new RectangleContour using the given values.
RectangleContour vaRect = new RectangleContour(630, 1313, 1073, 416);
roi.Add(vaRect);
// MatchPattern Grayscale
string dicpath = System.Windows.Forms.Application.StartupPath;
string vaTemplateFile = dicpath + $"{ @"/ImageConfig/LeftRectPos.png"}";
MatchingAlgorithm matchAlgorithm = MatchingAlgorithm.MatchGrayValuePyramid;
float[] minAngleVals = { -10, 0 };
float[] maxAngleVals = { 10, 0 };
int[] advancedOptionsItems = { 100, 102, 106, 107, 108, 109, 114, 116, 117, 118, 111, 112, 113, 103, 104, 105 };
double[] advancedOptionsValues = { 5, 10, 300, 0, 6, 1, 25, 0, 0, 0, 20, 10, 20, 1, 20, 0 };
int numberAdvOptions = 16;
int vaNumMatchesRequested = 1;
float vaMinMatchScore = 700;
pmResults = IVA_MatchPattern(image, ivaData, vaTemplateFile, matchAlgorithm, minAngleVals, maxAngleVals, advancedOptionsItems, advancedOptionsValues, numberAdvOptions, vaNumMatchesRequested, vaMinMatchScore, roi, 2);
roi.Dispose();
if (pmResults.Count == 1)
{
// Set Coordinate System
int vaCoordSystemIndex = 0;
int stepIndexOrigin = 2;
int resultIndexOrigin = 1;
int stepIndexAngle = 2;
int resultIndexAngle = 3;
double refSysOriginX = 1160.5;
double refSysOriginY = 1500.5;
double refSysAngle = 0;
AxisOrientation refSysAxisOrientation = AxisOrientation.Direct;
int vaCoordSystemType = 3;
IVA_CoordSys(vaCoordSystemIndex, stepIndexOrigin, resultIndexOrigin, stepIndexAngle, resultIndexAngle, refSysOriginX, refSysOriginY, refSysAngle, refSysAxisOrientation, vaCoordSystemType, ivaData);
// Creates a new, empty region of interest.
Roi roi2 = new Roi();
// Creates a new RotatedRectangleContour using the given values.
PointContour vaCenter = new PointContour(789, 965.5);
RotatedRectangleContour vaRotatedRect = new RotatedRectangleContour(vaCenter, 72, 1119, 0);
roi2.Add(vaRotatedRect);
// Reposition the region of interest based on the coordinate system.
int coordSystemIndex = 0;
Algorithms.TransformRoi(roi2, new CoordinateTransform(ivaData.baseCoordinateSystems[coordSystemIndex], ivaData.MeasurementSystems[coordSystemIndex]));
// Find Straight Edge
EdgeOptions vaOptions = new EdgeOptions();
vaOptions.ColumnProcessingMode = ColumnProcessingMode.Average;
vaOptions.InterpolationType = InterpolationMethod.Bilinear;
vaOptions.KernelSize = 9;
vaOptions.MinimumThreshold = Position.Instance.EdgeThreshold_Left;
vaOptions.Polarity = EdgePolaritySearchMode.Falling;
vaOptions.Width = 5;
StraightEdgeOptions vaStraightEdgeOptions = new StraightEdgeOptions();
vaStraightEdgeOptions.AngleRange = 45;
vaStraightEdgeOptions.AngleTolerance = 1;
vaStraightEdgeOptions.HoughIterations = 5;
vaStraightEdgeOptions.MinimumCoverage = 25;
vaStraightEdgeOptions.MinimumSignalToNoiseRatio = 0;
vaStraightEdgeOptions.NumberOfLines = 1;
vaStraightEdgeOptions.Orientation = 0;
Range vaRange = new Range(0, 1000);
vaStraightEdgeOptions.ScoreRange = vaRange;
vaStraightEdgeOptions.StepSize = 20;
vaStraightEdgeOptions.SearchMode = StraightEdgeSearchMode.FirstRakeEdges;
vaEdgeReport = IVA_FindEdge(image, roi2, RakeDirection.LeftToRight, vaOptions, vaStraightEdgeOptions, ivaData, 4);
roi2.Dispose();
// Creates a new, empty region of interest.
Roi roi3 = new Roi();
// Creates a new RotatedRectangleContour using the given values.
PointContour vaCenter2 = new PointContour(1162.5, 263);
RotatedRectangleContour vaRotatedRect2 = new RotatedRectangleContour(vaCenter2, 595, 78, 0);
roi3.Add(vaRotatedRect2);
// Reposition the region of interest based on the coordinate system.
int coordSystemIndex2 = 0;
Algorithms.TransformRoi(roi3, new CoordinateTransform(ivaData.baseCoordinateSystems[coordSystemIndex2], ivaData.MeasurementSystems[coordSystemIndex2]));
// Find Straight Edge
EdgeOptions vaOptions2 = new EdgeOptions();
vaOptions2.ColumnProcessingMode = ColumnProcessingMode.Average;
vaOptions2.InterpolationType = InterpolationMethod.Bilinear;
vaOptions2.KernelSize = 9;
vaOptions2.MinimumThreshold = Position.Instance.EdgeThreshold_Left;
vaOptions2.Polarity = EdgePolaritySearchMode.Falling;
vaOptions2.Width = 9;
StraightEdgeOptions vaStraightEdgeOptions2 = new StraightEdgeOptions();
vaStraightEdgeOptions2.AngleRange = 45;
vaStraightEdgeOptions2.AngleTolerance = 1;
vaStraightEdgeOptions2.HoughIterations = 5;
vaStraightEdgeOptions2.MinimumCoverage = 25;
vaStraightEdgeOptions2.MinimumSignalToNoiseRatio = 0;
vaStraightEdgeOptions2.NumberOfLines = 1;
vaStraightEdgeOptions2.Orientation = 0;
Range vaRange2 = new Range(0, 1000);
vaStraightEdgeOptions2.ScoreRange = vaRange2;
vaStraightEdgeOptions2.StepSize = 20;
vaStraightEdgeOptions2.SearchMode = StraightEdgeSearchMode.FirstRakeEdges;
vaEdgeReport2 = IVA_FindEdge(image, roi3, RakeDirection.TopToBottom, vaOptions2, vaStraightEdgeOptions2, ivaData, 5);
roi3.Dispose();
// Creates a new, empty region of interest.
Roi roi4 = new Roi();
// Creates a new RotatedRectangleContour using the given values.
PointContour vaCenter3 = new PointContour(1530, 968.5);
RotatedRectangleContour vaRotatedRect3 = new RotatedRectangleContour(vaCenter3, 78, 1137, 0);
roi4.Add(vaRotatedRect3);
// Reposition the region of interest based on the coordinate system.
int coordSystemIndex3 = 0;
Algorithms.TransformRoi(roi4, new CoordinateTransform(ivaData.baseCoordinateSystems[coordSystemIndex3], ivaData.MeasurementSystems[coordSystemIndex3]));
// Find Straight Edge
EdgeOptions vaOptions3 = new EdgeOptions();
vaOptions3.ColumnProcessingMode = ColumnProcessingMode.Average;
vaOptions3.InterpolationType = InterpolationMethod.Bilinear;
vaOptions3.KernelSize = 9;
vaOptions3.MinimumThreshold = Position.Instance.EdgeThreshold_Left;
vaOptions3.Polarity = EdgePolaritySearchMode.Falling;
vaOptions3.Width = 9;
StraightEdgeOptions vaStraightEdgeOptions3 = new StraightEdgeOptions();
vaStraightEdgeOptions3.AngleRange = 45;
vaStraightEdgeOptions3.AngleTolerance = 1;
vaStraightEdgeOptions3.HoughIterations = 5;
vaStraightEdgeOptions3.MinimumCoverage = 25;
vaStraightEdgeOptions3.MinimumSignalToNoiseRatio = 0;
vaStraightEdgeOptions3.NumberOfLines = 1;
vaStraightEdgeOptions3.Orientation = 0;
Range vaRange3 = new Range(0, 1000);
vaStraightEdgeOptions3.ScoreRange = vaRange3;
vaStraightEdgeOptions3.StepSize = 20;
vaStraightEdgeOptions3.SearchMode = StraightEdgeSearchMode.FirstRakeEdges;
vaEdgeReport3 = IVA_FindEdge(image, roi4, RakeDirection.RightToLeft, vaOptions3, vaStraightEdgeOptions3, ivaData, 6);
roi4.Dispose();
// Creates a new, empty region of interest.
Roi roi5 = new Roi();
// Creates a new RotatedRectangleContour using the given values.
PointContour vaCenter4 = new PointContour(1171.5, 1691.5);
RotatedRectangleContour vaRotatedRect4 = new RotatedRectangleContour(vaCenter4, 543, 75, 0);
roi5.Add(vaRotatedRect4);
// Reposition the region of interest based on the coordinate system.
int coordSystemIndex4 = 0;
Algorithms.TransformRoi(roi5, new CoordinateTransform(ivaData.baseCoordinateSystems[coordSystemIndex4], ivaData.MeasurementSystems[coordSystemIndex4]));
// Find Straight Edge
EdgeOptions vaOptions4 = new EdgeOptions();
vaOptions4.ColumnProcessingMode = ColumnProcessingMode.Average;
vaOptions4.InterpolationType = InterpolationMethod.Bilinear;
vaOptions4.KernelSize = 11;
vaOptions4.MinimumThreshold = Position.Instance.EdgeThreshold_Left;
vaOptions4.Polarity = EdgePolaritySearchMode.Falling;
vaOptions4.Width = 9;
StraightEdgeOptions vaStraightEdgeOptions4 = new StraightEdgeOptions();
vaStraightEdgeOptions4.AngleRange = 45;
vaStraightEdgeOptions4.AngleTolerance = 1;
vaStraightEdgeOptions4.HoughIterations = 5;
vaStraightEdgeOptions4.MinimumCoverage = 25;
vaStraightEdgeOptions4.MinimumSignalToNoiseRatio = 0;
vaStraightEdgeOptions4.NumberOfLines = 1;
vaStraightEdgeOptions4.Orientation = 0;
Range vaRange4 = new Range(0, 1000);
vaStraightEdgeOptions4.ScoreRange = vaRange4;
vaStraightEdgeOptions4.StepSize = 20;
vaStraightEdgeOptions4.SearchMode = StraightEdgeSearchMode.FirstRakeEdges;
vaEdgeReport4 = IVA_FindEdge(image, roi5, RakeDirection.BottomToTop, vaOptions4, vaStraightEdgeOptions4, ivaData, 7);
roi5.Dispose();
// Caliper
// Delete all the results of this step (from a previous iteration)
Functions.IVA_DisposeStepResults(ivaData, 8);
// Computes the vaIntersection point between two lines.
Collection <PointContour> vaIntersection = IVA_GetIntersection(image, ivaData, 8, 5, 0, 5, 2, 6, 0, 6, 2);
caliperIntersection = vaIntersection[0];
// Caliper
// Delete all the results of this step (from a previous iteration)
Functions.IVA_DisposeStepResults(ivaData, 9);
// Computes the vaIntersection point between two lines.
Collection <PointContour> vaIntersection2 = IVA_GetIntersection(image, ivaData, 9, 6, 0, 6, 2, 7, 0, 7, 2);
caliperIntersection2 = vaIntersection2[0];
// Caliper
// Delete all the results of this step (from a previous iteration)
Functions.IVA_DisposeStepResults(ivaData, 10);
// Computes the vaIntersection point between two lines.
Collection <PointContour> vaIntersection3 = IVA_GetIntersection(image, ivaData, 10, 4, 0, 4, 2, 7, 0, 7, 2);
caliperIntersection3 = vaIntersection3[0];
// Caliper
// Delete all the results of this step (from a previous iteration)
Functions.IVA_DisposeStepResults(ivaData, 11);
// Computes the vaIntersection point between two lines.
Collection <PointContour> vaIntersection4 = IVA_GetIntersection(image, ivaData, 11, 4, 0, 4, 2, 5, 0, 5, 2);
caliperIntersection4 = vaIntersection4[0];
//计算每个角的偏差
string str1 = Math.Round((-caliperIntersection.X - pointoffset.X + Position.Instance.SpecLeftPos_X[0]) / 96, 3).ToString() + ";" + Math.Round((-caliperIntersection.Y - pointoffset.Y + Position.Instance.SpecLeftPos_Y[0]) / 96, 3).ToString() + ";";
string str2 = Math.Round((-caliperIntersection2.X - pointoffset.X + Position.Instance.SpecLeftPos_X[1]) / 96, 3).ToString() + ";" + Math.Round((-caliperIntersection2.Y - pointoffset.Y + Position.Instance.SpecLeftPos_Y[1]) / 96, 3).ToString() + ";";
string str3 = Math.Round((-caliperIntersection3.X - pointoffset.X + Position.Instance.SpecLeftPos_X[2]) / 96, 3).ToString() + ";" + Math.Round((-caliperIntersection3.Y - pointoffset.Y + Position.Instance.SpecLeftPos_Y[2]) / 96, 3).ToString() + ";";
string str4 = Math.Round((-caliperIntersection4.X - pointoffset.X + Position.Instance.SpecLeftPos_X[3]) / 96, 3).ToString() + ";" + Math.Round((-caliperIntersection4.Y - pointoffset.Y + Position.Instance.SpecLeftPos_Y[3]) / 96, 3).ToString();
LeftCali = str1 + str2 + str3 + str4;
LeftCaliArrary = new string[] { str1, str2, str3, str4 };
}
else
{
LeftCali = "0;0;0;0;0;0;0;0";
LeftCaliArrary = new string[] { "0;0", "0;0", "0;0", "0;0" };
}
// Dispose the IVA_Data structure.
ivaData.Dispose();
// Return the palette type of the final image.
return(PaletteType.Gray);
}
