public async Task <ImageProcessingResult> ProcessAsync(List <HImage> images, FindLineConfigs findLineConfigs,
List <FaiItem> faiItems, int indexToShow,
ISnackbarMessageQueue messageQueue)
{
#region Initial variables
HObject imageUndistorted;
HTuple changeOfBase;
HTuple changeOfBaseInv;
HTuple rotationMat;
HTuple rotationMatInv;
HTuple mapToWorld;
HTuple mapToImage;
HTuple xLeft, yLeft, xRight, yRight, xUp, yUp, xDown, yDown;
HTuple baseLeftCol,
baseLeftLen1,
baseLeftLen2,
baseLeftRadian,
baseLeftRow,
baseTopCol,
baseTopLen1,
baseTopLen2,
baseTopRadian,
baseTopRow,
camParams;
#endregion
#region Change base
var image = images[0];
HalconScripts.GetI94BottomViewBaseRectsNoRectify(image, _shapeModelHandle, out baseTopRow,
out baseTopCol, out baseTopRadian, out baseTopLen1, out baseTopLen2, out baseLeftRow,
out baseLeftCol, out baseLeftRadian, out baseLeftLen1, out baseLeftLen2, out mapToWorld, out mapToImage,
out camParams
);
// images[0] = imageUndistorted.HobjectToHimage();
var findLineManager = new FindLineManager(messageQueue);
// Top base
var findLineParamTop = findLineConfigs.FindLineParamsDict["TopBase"];
var findLineFeedingsTop = findLineParamTop.ToFindLineFeeding();
findLineFeedingsTop.Col = baseTopCol;
findLineFeedingsTop.Row = baseTopRow;
findLineFeedingsTop.Radian = baseTopRadian;
findLineFeedingsTop.Len1 = baseTopLen1;
findLineFeedingsTop.Len2 = baseTopLen2;
findLineFeedingsTop.Transition = "negative";
var lineTopBase = findLineManager.TryFindLine("X-aixs", image, findLineFeedingsTop);
HalconScripts.SortLineLeftRight(lineTopBase.XStart, lineTopBase.YStart, lineTopBase.XEnd, lineTopBase.YEnd,
out xLeft, out yLeft, out xRight, out yRight);
// Right base
var findLineParamRight = findLineConfigs.FindLineParamsDict["LeftBase"];
var findLineFeedingsRight = findLineParamRight.ToFindLineFeeding();
findLineFeedingsRight.Col = baseLeftCol;
findLineFeedingsRight.Row = baseLeftRow;
findLineFeedingsRight.Radian = baseLeftRadian;
findLineFeedingsRight.Len1 = baseLeftLen1;
findLineFeedingsRight.Len2 = baseLeftLen2;
findLineFeedingsRight.Transition = "negative";
var lineLeftBase = findLineManager.TryFindLine("Y-axis", image, findLineFeedingsRight);
HalconScripts.SortLineUpDown(lineLeftBase.XStart, lineLeftBase.YStart, lineLeftBase.XEnd, lineLeftBase.YEnd,
out xUp, out yUp, out xDown, out yDown);
HalconScripts.GetChangeOfBase(xLeft, yLeft, xRight, yRight, xUp, yUp, xDown, yDown, out changeOfBase,
out changeOfBaseInv, out rotationMat, out rotationMatInv);
#endregion
#region Find lines
var coordinateSolver = new CoordinateSolver(changeOfBase, changeOfBaseInv, rotationMat, rotationMatInv,
mapToWorld, mapToImage);
// Update absolute find line locations
findLineConfigs.GenerateLocationsAbs(coordinateSolver);
// Find lines
findLineManager.FindLineFeedings = findLineConfigs.GenerateFindLineFeedings();
await findLineManager.FindLinesParallel(images);
#endregion
#region 21
var lineF21Top = coordinateSolver.TranslateLineInWorldUnit(21, lineTopBase, true);
var lineF21Bottom = coordinateSolver.TranslateLineInWorldUnit(30, lineTopBase, true);
var p1F21 = findLineManager.GetLine("21left").Intersect(lineF21Top);
var p2F21 = findLineManager.GetLine("21left").Intersect(lineF21Bottom);
var p3F21 = findLineManager.GetLine("21right").Intersect(lineF21Top);
var p4F21 = findLineManager.GetLine("21right").Intersect(lineF21Bottom);
var valueF21Top = coordinateSolver.PointPointDistanceInWorld(p1F21, p3F21, true);
var valueF21Bottom = coordinateSolver.PointPointDistanceInWorld(p2F21, p4F21, true);
#endregion
#region 23
var lineF23Left = coordinateSolver.TranslateLineInWorldUnit(-5.5, lineLeftBase, true);
var lineF23Right = coordinateSolver.TranslateLineInWorldUnit(-13.2, lineLeftBase, true);
var lineF123Left = coordinateSolver.TranslateLineInWorldUnit(-5, lineLeftBase, true);
var lineF123Center = coordinateSolver.TranslateLineInWorldUnit(-9.269, lineLeftBase, true);
var lineF123Right = coordinateSolver.TranslateLineInWorldUnit(-14.5, lineLeftBase, true);
var p1F23 = findLineManager.GetLine("23top").Intersect(lineF23Left);
var p2F23 = findLineManager.GetLine("23top").Intersect(lineF23Right);
var p3F23 = findLineManager.GetLine("23bottom").Intersect(lineF23Left);
var p4F23 = findLineManager.GetLine("23bottom").Intersect(lineF23Right);
var pLeftF23 = Point.CenterPointInImage(p1F23, p3F23);
var pRightF23 = Point.CenterPointInImage(p2F23, p4F23);
var valueF23Left = coordinateSolver.PointPointDistanceInWorld(p1F23, p3F23, true);
var valueF23Right = coordinateSolver.PointPointDistanceInWorld(p2F23, p4F23, true);
#endregion
#region 24
var lineF24Top = coordinateSolver.TranslateLineInWorldUnit(7.3, lineTopBase, true);
var lineF24Bottom = coordinateSolver.TranslateLineInWorldUnit(8.5, lineTopBase, true);
var p1F24 = findLineManager.GetLine("24.left").Intersect(lineF24Top);
var p2F24 = findLineManager.GetLine("24.left").Intersect(lineF24Bottom);
var p3F24 = findLineManager.GetLine("24.right").Intersect(lineF24Top);
var p4F24 = findLineManager.GetLine("24.right").Intersect(lineF24Bottom);
var pLeftF24 = Point.CenterPointInImage(p1F24, p2F24);
var pRightF24 = Point.CenterPointInImage(p3F24, p4F24);
var valueF24 = coordinateSolver.PointPointDistanceInWorld(pLeftF24, pRightF24, true);
#endregion
#region 25
var rectCircleLeft =
coordinateSolver.FindLineLocationRelativeToAbsolute(EdgeLocationsRelative["leftCircle"]);
HTuple circleXLeft, circleYLeft, circleRadiusLeft;
HObject leftCircleContour;
HalconScripts.I94FindLeftCircle(image, out leftCircleContour, rectCircleLeft.Y, rectCircleLeft.X,
MathUtils.ToRadian(rectCircleLeft.Angle), rectCircleLeft.Len1, rectCircleLeft.Len2, out circleXLeft,
out circleYLeft, out circleRadiusLeft);
var valueF25_1 = circleRadiusLeft.D * Weight * 2;
var leftCenter = new Point(circleXLeft, circleYLeft);
var distYCircleLeft = coordinateSolver.PointLineDistanceInWorld(leftCenter, lineTopBase);
var distXCircleLeft = coordinateSolver.PointLineDistanceInWorld(leftCenter, lineLeftBase);
var valueF25_2 = 2.0 * Point.Distance(new Point(distXCircleLeft, distYCircleLeft), new Point(9.299, 7.886));
#endregion
#region 26
var lineF26Left =
coordinateSolver.TranslateLineInWorldUnit(-0.6, findLineManager.GetLine("24.left").SortUpDown(), true);
var lineF26Right =
coordinateSolver.TranslateLineInWorldUnit(0.6, findLineManager.GetLine("24.right").SortUpDown(), true);
var rectLeftTop = coordinateSolver.FindLineLocationRelativeToAbsolute(EdgeLocationsRelative["26-leftTop"]);
var edgeLeftTop = GetContour(image, rectLeftTop);
var pLeftTopF26 = LineContourIntersection(lineF26Left, edgeLeftTop);
var rectLeftBottom =
coordinateSolver.FindLineLocationRelativeToAbsolute(EdgeLocationsRelative["26-leftBottom"]);
var edgeLeftBottom = GetContour(image, rectLeftBottom);
var pLeftBottomF26 = LineContourIntersection(lineF26Left, edgeLeftBottom);
var rectRightTop =
coordinateSolver.FindLineLocationRelativeToAbsolute(EdgeLocationsRelative["26-rightTop"]);
var edgeRightTop = GetContour(image, rectRightTop);
var pRightTopF26 = LineContourIntersection(lineF26Right, edgeRightTop);
var rectRightBottom =
coordinateSolver.FindLineLocationRelativeToAbsolute(EdgeLocationsRelative["26-rightBottom"]);
var edgeRightBottom = GetContour(image, rectRightBottom);
var pRightBottomF26 = LineContourIntersection(lineF26Right, edgeRightBottom);
var valueF26_1 = coordinateSolver.PointPointDistanceInWorld(pLeftTopF26, pLeftBottomF26, true);
var valueF26_2 = coordinateSolver.PointPointDistanceInWorld(pRightTopF26, pRightBottomF26, true);
#endregion
#region 27
var rectCircleRight =
coordinateSolver.FindLineLocationRelativeToAbsolute(EdgeLocationsRelative["rightCircle"]);
HTuple circleXRight, circleYRight, circleRadiusRight;
HObject rightCircleContour;
HalconScripts.I94FindRightCircle(image, out rightCircleContour, rectCircleRight.Y, rectCircleRight.X,
MathUtils.ToRadian(rectCircleRight.Angle), rectCircleRight.Len1, rectCircleRight.Len2, out circleXRight,
out circleYRight, out circleRadiusRight);
var rightCenter = new Point(circleXRight, circleYRight);
var lineF27Left = coordinateSolver.TranslateLineInWorldUnit(-23.5, lineLeftBase, true);
var lineF27Right = coordinateSolver.TranslateLineInWorldUnit(-25, lineLeftBase, true);
var pTopLeftF27 = findLineManager.GetLine("27.top").Intersect(lineF27Left);
var pTopRightF27 = findLineManager.GetLine("27.top").Intersect(lineF27Right);
var pBottomLeftF27 = findLineManager.GetLine("27.bottom").Intersect(lineF27Left);
var pBottomRightF27 = findLineManager.GetLine("27.bottom").Intersect(lineF27Right);
var pF27Top = Point.CenterPointInImage(pTopLeftF27, pTopRightF27);
var pF27Bottom = Point.CenterPointInImage(pBottomLeftF27, pBottomRightF27);
var value27_1 = coordinateSolver.PointPointDistanceInWorld(rightCenter, pF27Top, true);
var value27_2 = coordinateSolver.PointPointDistanceInWorld(rightCenter, pF27Bottom, true);
#endregion
#region 28
var valueF28_1 = circleRadiusRight.D * Weight * 2;
var distYCircleRight = coordinateSolver.PointLineDistanceInWorld(rightCenter, lineTopBase);
var distXCircleRight = coordinateSolver.PointLineDistanceInWorld(rightCenter, lineLeftBase);
var valueF28_2 = 2.0 * Point.Distance(new Point(distXCircleRight, distYCircleRight), new Point(24.434, 16.624));
#endregion
#region 29
var lineF29Top = coordinateSolver.TranslateLineInWorldUnit(16, lineTopBase, true);
var lineF29Bottom = coordinateSolver.TranslateLineInWorldUnit(17.2, lineTopBase, true);
var pLeftTopF29 = findLineManager.GetLine("29.left").Intersect(lineF29Top);
var pLeftBottomF29 = findLineManager.GetLine("29.left").Intersect(lineF29Bottom);
var pRightTopF29 = findLineManager.GetLine("29.right").Intersect(lineF29Top);
var pRightBottomF29 = findLineManager.GetLine("29.right").Intersect(lineF29Bottom);
var pF29Left = Point.CenterPointInImage(pLeftTopF29, pLeftBottomF29);
var pF29Right = Point.CenterPointInImage(pRightTopF29, pRightBottomF29);
var valueF29_1 = coordinateSolver.PointPointDistanceInWorld(rightCenter, pF29Left, true);
var valueF29_2 = coordinateSolver.PointPointDistanceInWorld(rightCenter, pF29Right, true);
#endregion
#region 31
var line3F31 = findLineManager.GetLine("31.topLeft").SortUpDown();
var line1F31 = findLineManager.GetLine("31.bottomRight").SortUpDown();
var p1L5F31 = Point.CenterPointInImage(new Point(line3F31.XStart, line3F31.YStart),
new Point(line1F31.XStart, line1F31.YStart));
var p2L5F31 = Point.CenterPointInImage(new Point(line3F31.XEnd, line3F31.YEnd),
new Point(line1F31.XEnd, line1F31.YEnd));
var l5F31 = new Line(p1L5F31.ImageX, p1L5F31.ImageY, p2L5F31.ImageX, p2L5F31.ImageY);
var line2F31 = findLineManager.GetLine("31.topRight").SortUpDown();
var line4F31 = findLineManager.GetLine("31.bottomLeft").SortUpDown();
var p1L6F31 = Point.CenterPointInImage(new Point(line2F31.XStart, line2F31.YStart),
new Point(line4F31.XStart, line4F31.YStart));
var p2L6F31 = Point.CenterPointInImage(new Point(line2F31.XEnd, line2F31.YEnd),
new Point(line4F31.XEnd, line4F31.YEnd));
var l6F31 = new Line(p1L6F31.ImageX, p1L6F31.ImageY, p2L6F31.ImageX, p2L6F31.ImageY);
var pMeasureF31 = l5F31.Intersect(l6F31);
var lineHF31 = coordinateSolver.TranslateLineInWorldUnit(25.362, lineTopBase);
var lineVF31 = coordinateSolver.TranslateLineInWorldUnit(-9.299, lineLeftBase);
var pIdealF31 = lineHF31.Intersect(lineVF31);
var valueF31 = 2 * coordinateSolver.PointPointDistanceInWorld(pIdealF31, pMeasureF31);
#endregion
#region 32
var lineF32Top = lineF21Top;
var lineF32Bottom = coordinateSolver.TranslateLineInWorldUnit(30.1, lineTopBase, true);
var lineF32Left = lineF23Left;
var lineF32Right = lineF23Right;
var lineF32IdealHorizontal = coordinateSolver.TranslateLineInWorldUnit(25.392, lineTopBase, true);
var lineF32IdealVertical = coordinateSolver.TranslateLineInWorldUnit(-9.299, lineLeftBase, true);
var pTopLeftF32 = findLineManager.GetLine("23top").Intersect(lineF32Left);
var pTopRightF32 = findLineManager.GetLine("23top").Intersect(lineF32Right);
var pBottomLeftF32 = findLineManager.GetLine("23bottom").Intersect(lineF32Left);
var pBottomRightF32 = findLineManager.GetLine("23bottom").Intersect(lineF32Right);
var pLeftTopF32 = findLineManager.GetLine("21left").Intersect(lineF32Top);
var pLeftBottomF32 = findLineManager.GetLine("21left").Intersect(lineF32Bottom);
var pRightTopF32 = findLineManager.GetLine("21right").Intersect(lineF32Top);
var pRightBottomF32 = findLineManager.GetLine("21right").Intersect(lineF32Bottom);
var pF32Top = Point.CenterPointInImage(pLeftTopF32, pRightTopF32);
var pF32Bottom = Point.CenterPointInImage(pLeftBottomF32, pRightBottomF32);
var lineF32Vertical = new Line(pF32Top.ImageX, pF32Top.ImageY, pF32Bottom.ImageX, pF32Bottom.ImageY);
var pF32Left = Point.CenterPointInImage(pTopLeftF32, pBottomLeftF32);
var pF32Right = Point.CenterPointInImage(pTopRightF32, pBottomRightF32);
var lineF32Horizontal = new Line(pF32Left.ImageX, pF32Left.ImageY, pF32Right.ImageX, pF32Right.ImageY);
var pF32Ideal = lineF32IdealHorizontal.Intersect(lineF32IdealVertical);
var pF32 = lineF32Horizontal.Intersect(lineF32Vertical);
var valueF32 = 2 * coordinateSolver.PointPointDistanceInWorld(pF32Ideal, pF32);
#endregion
#region 33
var lineF33Left = lineF26Left;
var lineF33Right = lineF26Right;
var pM1F33 = Point.CenterPointInImage(pLeftTopF26, pLeftBottomF26);
var pM2F33 = Point.CenterPointInImage(pRightTopF26, pRightBottomF26);
var l4F33 = new Line(pM1F33.ImageX, pM1F33.ImageY, pM2F33.ImageX, pM2F33.ImageY);
var lineLeftF33 = lineF26Left.SortUpDown();
var lineRightF33 = lineF26Right.SortUpDown();
var l3p1F33 = Point.CenterPointInImage(lineLeftF33.PointStart, lineRightF33.PointStart);
var l3p2F33 = Point.CenterPointInImage(lineLeftF33.PointEnd, lineRightF33.PointEnd);
var l3F33 = new Line(l3p1F33, l3p2F33);
var pMeasureF33 = l4F33.Intersect(l3F33);
var lineHF33 = coordinateSolver.TranslateLineInWorldUnit(7.886, lineTopBase);
var lineVF33 = coordinateSolver.TranslateLineInWorldUnit(-9.299, lineLeftBase);
var pIdealF33 = lineHF33.Intersect(lineVF33);
var valueF33 = 2 * coordinateSolver.PointPointDistanceInWorld(pIdealF33, pMeasureF33);
#endregion
#region 123
var p1F123 = findLineManager.GetLine("123").Intersect(lineF123Left);
var p2F123 = findLineManager.GetLine("123").Intersect(lineF123Center);
var p3F123 = findLineManager.GetLine("123").Intersect(lineF123Right);
var valueF123_1 = coordinateSolver.PointLineDistanceInWorld(p1F123, lineTopBase);
var valueF123_2 = coordinateSolver.PointLineDistanceInWorld(p2F123, lineTopBase);
var valueF123_3 = coordinateSolver.PointLineDistanceInWorld(p3F123, lineTopBase);
#endregion
#region Outputs
Dictionary <string, double> outputs = new Dictionary <string, double>();
outputs["21_1"] = valueF21Top;
outputs["21_2"] = valueF21Bottom;
outputs["23_1"] = valueF23Left;
outputs["23_2"] = valueF23Right;
outputs["24_1"] = valueF24;
outputs["25_1"] = valueF25_1;
outputs["25_2"] = valueF25_2;
outputs["26_1"] = valueF26_1;
outputs["26_2"] = valueF26_2;
outputs["27_1"] = value27_1;
outputs["27_2"] = value27_2;
outputs["28_1"] = valueF28_1;
outputs["28_2"] = valueF28_2;
outputs["29_1"] = valueF29_1;
outputs["29_2"] = valueF29_2;
outputs["31_1"] = valueF31;
outputs["32_1"] = valueF32;
outputs["33_1"] = valueF33;
outputs["123_1"] = valueF123_1;
outputs["123_2"] = valueF123_2;
outputs["123_3"] = valueF123_3;
var graphics = new HalconGraphics()
{
CrossesIgnored = findLineManager.CrossesIgnored,
CrossesUsed = findLineManager.GenCrossesUsed(),
FindLineRects = findLineManager.FindLineRects,
LineRegions = findLineManager.LineRegions,
Edges = HalconHelper.ConcatAll(findLineManager.Edges, edgeLeftTop, edgeLeftBottom, edgeRightTop, edgeRightBottom, leftCircleContour, rightCircleContour),
PointPointGraphics = coordinateSolver.PointPointDistanceGraphics,
PointLineGraphics = coordinateSolver.PointLineDistanceGraphics,
// Image = image
};
#endregion
return(new ImageProcessingResult()
{
DataRecorder = new DataRecorder(changeOfBaseInv),
FaiDictionary = outputs,
HalconGraphics = graphics
});
}
public async Task <ImageProcessingResult> ProcessAsync(List <HImage> images, FindLineConfigs findLineConfigs,
List <FaiItem> faiItems, int indexToShow, ISnackbarMessageQueue messageQueue)
{
int backLightIndex = 1;
int frontLightIndex = 0;
HObject imageUndistorted;
HTuple changeOfBase;
HTuple changeOfBaseInv;
HTuple rotationMat;
HTuple rotationMatInv;
HTuple mapToWorld;
HTuple mapToImage;
HTuple xLeft, yLeft, xRight, yRight, xUp, yUp, xDown, yDown;
HTuple baseRightCol,
baseRightLen1,
baseRightLen2,
baseRightRadian,
baseRightRow,
baseTopCol,
baseTopLen1,
baseTopLen2,
baseTopRadian,
baseTopRow,
camParams;
// Calculate matrices
HalconScripts.GetI94TopViewBaseRectsNoRectify(images[backLightIndex], _shapeModelHandle, out baseTopRow,
out baseTopCol, out baseTopRadian, out baseTopLen1, out baseTopLen2, out baseRightRow,
out baseRightCol, out baseRightRadian, out baseRightLen1, out baseRightLen2, out mapToWorld, out mapToImage, out camParams
);
// Undistort images
// images[backLightIndex] = imageUndistorted.HobjectToHimage();
// HTuple _;
// HalconScripts.UndistortImage(images[frontLightIndex], out imageUndistorted, camParams, out _);
// images[frontLightIndex] = imageUndistorted.HobjectToHimage();
var findLineManager = new FindLineManager(messageQueue);
// Top base
var findLineParamTop = findLineConfigs.FindLineParamsDict["TopBase"];
var findLineFeedingsTop = findLineParamTop.ToFindLineFeeding();
findLineFeedingsTop.Col = baseTopCol;
findLineFeedingsTop.Row = baseTopRow;
findLineFeedingsTop.Radian = baseTopRadian;
findLineFeedingsTop.Len1 = baseTopLen1;
findLineFeedingsTop.Len2 = baseTopLen2;
findLineFeedingsTop.Transition = "negative";
var lineTopBase = findLineManager.TryFindLine("X-aixs", images[backLightIndex], findLineFeedingsTop);
HalconScripts.SortLineLeftRight(lineTopBase.XStart, lineTopBase.YStart, lineTopBase.XEnd, lineTopBase.YEnd, out xLeft, out yLeft, out xRight, out yRight);
// Right base
var findLineParamRight = findLineConfigs.FindLineParamsDict["RightBase"];
var findLineFeedingsRight = findLineParamRight.ToFindLineFeeding();
findLineFeedingsRight.Col = baseRightCol;
findLineFeedingsRight.Row = baseRightRow;
findLineFeedingsRight.Radian = baseRightRadian;
findLineFeedingsRight.Len1 = baseRightLen1;
findLineFeedingsRight.Len2 = baseRightLen2;
findLineFeedingsRight.Transition = "negative";
var lineRightBase = findLineManager.TryFindLine("Y-axis", images[backLightIndex], findLineFeedingsRight);
HalconScripts.SortLineUpDown(lineRightBase.XStart, lineRightBase.YStart, lineRightBase.XEnd, lineRightBase.YEnd, out xUp, out yUp, out xDown, out yDown);
HalconScripts.GetChangeOfBase(xRight, yRight, xLeft, yLeft, xUp, yUp, xDown, yDown, out changeOfBase, out changeOfBaseInv, out rotationMat, out rotationMatInv);
var coordinateSolver = new CoordinateSolver(changeOfBase, changeOfBaseInv, rotationMat, rotationMatInv, mapToWorld, mapToImage);
// Update absolute find line locations
findLineConfigs.GenerateLocationsAbs(coordinateSolver);
// Find lines
findLineManager.FindLineFeedings = findLineConfigs.GenerateFindLineFeedings();
await findLineManager.FindLinesParallel(images);
// Make parallel lines
var lineFai2and3P2 = coordinateSolver.TranslateLineInWorldUnit(9, lineRightBase, true);
var lineFai4P1 = coordinateSolver.TranslateLineInWorldUnit(3, lineRightBase, true);
var lineFai4P2 = coordinateSolver.TranslateLineInWorldUnit(9.269, lineRightBase, true);
var lineFai4P3 = coordinateSolver.TranslateLineInWorldUnit(15.5, lineRightBase, true);
var lineFai5P1 = coordinateSolver.TranslateLineInWorldUnit(5.299, lineRightBase, true);
var lineFai5P2 = coordinateSolver.TranslateLineInWorldUnit(9.299, lineRightBase, true);
var lineFai5P3 = coordinateSolver.TranslateLineInWorldUnit(13.299, lineRightBase, true);
var lineFai6P1 = coordinateSolver.TranslateLineInWorldUnit(22.024, lineRightBase, true);
var lineFai6P2 = coordinateSolver.TranslateLineInWorldUnit(24.024, lineRightBase, true);
var lineFai6P3 = coordinateSolver.TranslateLineInWorldUnit(26.024, lineRightBase, true);
var lineFai9P1 = coordinateSolver.TranslateLineInWorldUnit(21.753, lineRightBase, true);
var lineFai9P2 = coordinateSolver.TranslateLineInWorldUnit(23.753, lineRightBase, true);
var lineFai9P3 = coordinateSolver.TranslateLineInWorldUnit(25.753, lineRightBase, true);
var lineFai12P1 = coordinateSolver.TranslateLineInWorldUnit(-23.213, lineTopBase, true);
var lineFai12P2 = coordinateSolver.TranslateLineInWorldUnit(-34.97, lineTopBase, true);
var lineFai16P1 = coordinateSolver.TranslateLineInWorldUnit(-13.071, lineTopBase, true);
var lineFai16P2 = coordinateSolver.TranslateLineInWorldUnit(-20.213, lineTopBase, true);
var lineFai17P1 = coordinateSolver.TranslateLineInWorldUnit(-1.53, lineTopBase, true);
var lineFai17P2 = coordinateSolver.TranslateLineInWorldUnit(-9.827, lineTopBase, true);
var lineFai19P1 = coordinateSolver.TranslateLineInWorldUnit(-2.157, lineTopBase, true);
var lineFai19P2 = coordinateSolver.TranslateLineInWorldUnit(-13.791, lineTopBase, true);
var lineFai20CenterX = coordinateSolver.TranslateLineInWorldUnit(9.299, lineRightBase, true);
var lineFai20CenterY = coordinateSolver.TranslateLineInWorldUnit(-7.886, lineTopBase, true);
// Intersections
var p2F2 = lineFai2and3P2.Intersect(findLineManager.GetLine("02"));
var p2F3 = lineFai2and3P2.Intersect(findLineManager.GetLine("03"));
var p1F4 = lineFai4P1.Intersect((findLineManager.GetLine("04")));
var p2F4 = lineFai4P2.Intersect((findLineManager.GetLine("04")));
var p3F4 = lineFai4P3.Intersect((findLineManager.GetLine("04")));
var p1F5 = lineFai5P1.Intersect((findLineManager.GetLine("05")));
var p2F5 = lineFai5P2.Intersect((findLineManager.GetLine("05")));
var p3F5 = lineFai5P3.Intersect((findLineManager.GetLine("05")));
var p1F6 = lineFai6P1.Intersect((findLineManager.GetLine("06")));
var p2F6 = lineFai6P2.Intersect((findLineManager.GetLine("06")));
var p3F6 = lineFai6P3.Intersect((findLineManager.GetLine("06")));
var p1F9 = lineFai9P1.Intersect((findLineManager.GetLine("09")));
var p2F9 = lineFai9P2.Intersect((findLineManager.GetLine("09")));
var p3F9 = lineFai9P3.Intersect((findLineManager.GetLine("09")));
var p1F12 = lineFai12P1.Intersect((findLineManager.GetLine("12")));
var p2F12 = lineFai12P2.Intersect((findLineManager.GetLine("12")));
var p1F16 = lineFai16P1.Intersect((findLineManager.GetLine("16")));
var p2F16 = lineFai16P2.Intersect((findLineManager.GetLine("16")));
var p1F17 = lineFai17P1.Intersect((findLineManager.GetLine("17")));
var p2F17 = lineFai17P2.Intersect((findLineManager.GetLine("17")));
var p1F19 = lineFai19P1.Intersect((findLineManager.GetLine("19")));
var p2F19 = lineFai19P2.Intersect((findLineManager.GetLine("19")));
var p20Center = lineFai20CenterX.Intersect(lineFai20CenterY);
// Measure point-line distances
var valueF2P2 = coordinateSolver.PointLineDistanceInWorld(p2F2, lineTopBase);
var valueF3P2 = coordinateSolver.PointLineDistanceInWorld(p2F3, lineTopBase);
var valueF4P1 = coordinateSolver.PointLineDistanceInWorld(p1F4, lineTopBase);
var valueF4P2 = coordinateSolver.PointLineDistanceInWorld(p2F4, lineTopBase);
var valueF4P3 = coordinateSolver.PointLineDistanceInWorld(p3F4, lineTopBase);
var valueF5P1 = coordinateSolver.PointLineDistanceInWorld(p1F5, lineTopBase);
var valueF5P2 = coordinateSolver.PointLineDistanceInWorld(p2F5, lineTopBase);
var valueF5P3 = coordinateSolver.PointLineDistanceInWorld(p3F5, lineTopBase);
var valueF6P1 = coordinateSolver.PointLineDistanceInWorld(p1F6, lineTopBase);
var valueF6P2 = coordinateSolver.PointLineDistanceInWorld(p2F6, lineTopBase);
var valueF6P3 = coordinateSolver.PointLineDistanceInWorld(p3F6, lineTopBase);
var valueF9P1 = coordinateSolver.PointLineDistanceInWorld(p1F9, lineTopBase);
var valueF9P2 = coordinateSolver.PointLineDistanceInWorld(p2F9, lineTopBase);
var valueF9P3 = coordinateSolver.PointLineDistanceInWorld(p3F9, lineTopBase);
var valueF12P1 = coordinateSolver.PointLineDistanceInWorld(p1F12, lineRightBase);
var valueF12P2 = coordinateSolver.PointLineDistanceInWorld(p2F12, lineRightBase);
var valueF16P1 = coordinateSolver.PointLineDistanceInWorld(p1F16, lineRightBase);
var valueF16P2 = coordinateSolver.PointLineDistanceInWorld(p2F16, lineRightBase);
var valueF17P1 = coordinateSolver.PointLineDistanceInWorld(p1F17, lineRightBase);
var valueF17P2 = coordinateSolver.PointLineDistanceInWorld(p2F17, lineRightBase);
var valueF19P1 = coordinateSolver.PointLineDistanceInWorld(p1F19, lineRightBase);
var valueF19P2 = coordinateSolver.PointLineDistanceInWorld(p2F19, lineRightBase);
// Record points
var recorder = new DataRecorder(changeOfBaseInv);
recorder.RecordPoint(findLineManager.GetLine("02"), lineRightBase, "XAxis-02");
recorder.RecordPoint(findLineManager.GetLine("03"), lineRightBase, "YAxis-03");
recorder.RecordPoint(findLineManager.GetLine("04"), lineRightBase, "YAxis-04");
recorder.RecordPoint(findLineManager.GetLine("05"), lineRightBase, "YAxis-05");
recorder.RecordPoint(findLineManager.GetLine("06"), lineRightBase, "YAxis-06");
// Record angles
recorder.RecordLine(lineTopBase, "X-axis");
recorder.RecordLine(lineRightBase, "Y-axis");
recorder.RecordLine(findLineManager.GetLine("02"), "02");
recorder.RecordLine(findLineManager.GetLine("03"), "03");
recorder.RecordLine(findLineManager.GetLine("04"), "04");
recorder.RecordLine(findLineManager.GetLine("05"), "05");
recorder.RecordLine(findLineManager.GetLine("06"), "06");
recorder.RecordLine(findLineManager.GetLine("20.topRight"), "20.topRight");
recorder.RecordLine(findLineManager.GetLine("20.bottomLeft"), "20.bottomLeft");
//Fai 20.1
var ptOrigin = lineTopBase.Intersect(lineRightBase);
HTuple rotatedX1, rotatedX2, rotatedY1, rotatedY2;
HObject lineRegion;
HalconScripts.PivotLineAroundPoint(out lineRegion, xLeft, yLeft, xRight, yRight, ptOrigin.ImageX, ptOrigin.ImageY,
MathUtils.ToRadian(45), "right", 5120, 5120, out rotatedX1, out rotatedY1, out rotatedX2,
out rotatedY2);
var lineRotated = new Line(rotatedX1.D, rotatedY1.D, rotatedX2.D, rotatedY2.D);
lineRotated.IsVisible = true;
HalconScripts.PivotLineAroundPoint(out lineRegion, xLeft, yLeft, xRight, yRight, ptOrigin.ImageX, ptOrigin.ImageY,
MathUtils.ToRadian(-45), "right", 5120, 5120, out rotatedX1, out rotatedY1, out rotatedX2,
out rotatedY2);
var lineProject = new Line(rotatedX1.D, rotatedY1.D, rotatedX2.D, rotatedY2.D)
{
IsVisible = true
};
var lineFai20TopRight = findLineManager.GetLine("20.topRight");
var pointOnTopRight = new Point((lineFai20TopRight.XStart + lineFai20TopRight.XEnd) / 2.0, (lineFai20TopRight.YStart + lineFai20TopRight.YEnd) / 2.0);
var lineFai20BottomLeft = findLineManager.GetLine("20.bottomLeft");
var valueF20P1 = coordinateSolver.PointLineDistanceInWorld(pointOnTopRight, lineFai20BottomLeft);
var linePerpendiculerToBottomLeft =
lineFai20BottomLeft.PerpendicularLineThatPasses(pointOnTopRight);
linePerpendiculerToBottomLeft.IsVisible = true;
var angle = linePerpendiculerToBottomLeft.AngleWithLine(lineProject);
var cosValue = Math.Cos(angle);
valueF20P1 = valueF20P1 * cosValue;
// Fai 20.2
var pointOnBottomLeft = linePerpendiculerToBottomLeft.Intersect(lineFai20BottomLeft);
var midPoint = new Point((pointOnBottomLeft.ImageX + pointOnTopRight.ImageX) / 2.0,
(pointOnBottomLeft.ImageY + pointOnTopRight.ImageY) / 2.0);
var pointMidProjected = lineProject.ProjectPoint(midPoint);
var distanceToOrigin = coordinateSolver.PointPointDistanceInWorld(pointMidProjected, ptOrigin, true);
var valueF20P2 = Math.Abs(12.202 - distanceToOrigin) * 2;
// outputs
var outputs = new Dictionary <string, double>();
outputs["02_2"] = valueF2P2;
outputs["03_2"] = valueF3P2;
outputs["04_1"] = valueF4P1;
outputs["04_2"] = valueF4P2;
outputs["04_3"] = valueF4P3;
outputs["05_1"] = valueF5P1;
outputs["05_2"] = valueF5P2;
outputs["05_3"] = valueF5P3;
outputs["06_1"] = valueF6P1;
outputs["06_2"] = valueF6P2;
outputs["06_3"] = valueF6P3;
outputs["09_1"] = valueF9P1;
outputs["09_2"] = valueF9P2;
outputs["09_3"] = valueF9P3;
outputs["12_1"] = valueF12P1;
outputs["12_2"] = valueF12P2;
outputs["16_1"] = valueF16P1;
outputs["16_2"] = valueF16P2;
outputs["17_1"] = valueF17P1;
outputs["17_2"] = valueF17P2;
outputs["19_1"] = valueF19P1;
outputs["19_2"] = valueF19P2;
outputs["20_1"] = valueF20P1;
outputs["20_2"] = valueF20P2;
var graphics = new HalconGraphics()
{
CrossesIgnored = findLineManager.CrossesIgnored,
CrossesUsed = findLineManager.GenCrossesUsed(),
FindLineRects = findLineManager.FindLineRects,
LineRegions = findLineManager.LineRegions,
Edges = findLineManager.Edges,
PointPointGraphics = coordinateSolver.PointPointDistanceGraphics,
PointLineGraphics = coordinateSolver.PointLineDistanceGraphics,
// Image = images[indexToShow]
};
return(new ImageProcessingResult()
{
DataRecorder = recorder,
FaiDictionary = outputs,
HalconGraphics = graphics
});
}