public MainWindow()
{
InitializeComponent();
InitializeComponent();
hdev_export = new HDevelopExport();
drawing_objects = new List <HTuple>();
}
public MainWindow()
{
InitializeComponent();
//Init ???
HDevelopExport hd = new HDevelopExport();
//HDevelopExportApp.
}
private void SaveImage(HTuple handle, bool result)
{
try
{
Task.Run(() =>
{
string imageName = $"{DateTime.Now:HHmmss}.tiff";
string res = result ? "OK" : "NG";
string pathSource = $@"{ProductMgr.GetInstance().ProductPath}Images\{DateTime.Now:yyyyMMdd}\{res}\Robot\Source\";
string pathWindow = $@"{ProductMgr.GetInstance().ProductPath}Images\{DateTime.Now:yyyyMMdd}\{res}\Robot\Window\";
if (!System.IO.Directory.Exists(pathSource))
{
System.IO.Directory.CreateDirectory(pathSource);
}
if (!System.IO.Directory.Exists(pathWindow))
{
System.IO.Directory.CreateDirectory(pathWindow);
}
string fileNameSource = $"{pathSource}{imageName}";
string fileNameWindow = $"{pathWindow}{imageName}";
HDevelopExport.WriteImage(imgSrc, fileNameSource);
HDevelopExport.DumpWindow(handle, fileNameWindow);
});
}
catch (Exception)
{
}
}
// Event handler koji se poziva kada zavrsi analiza slike za pick
private static void PickUpdate(HDevelopExport sender, HalconEventArgs e)
{
App.PLC.WriteTag(PLC.STATUS.Kamere.CAM1RezultatX, e.RXcord);
App.PLC.WriteTag(PLC.STATUS.Kamere.CAM1RezultatY, e.RYcord);
App.PLC.WriteTag(PLC.STATUS.Kamere.CAM1RezultatAngle, e.AngleDeg);
App.PLC.WriteTag(PLC.STATUS.Kamere.CAM1RezultatWorkpieceDiameter, e.WorkpieceDiameter);
App.PLC.WriteTag(PLC.STATUS.Kamere.CAM1AnalizaOk, true);
App.PLC.WriteTag(PLC.STATUS.Kamere.CAM1AnalizaOk, false);
}
//private void PLC_Update_1_s(PLCInterface sender, PLCInterfaceEventArgs e)
//{
// String msg = "SISTEM SPREMAN 1s";
// if (mwHandle != null)
// {
// mwHandle.tb_statusMessage.Dispatcher.BeginInvoke((Action)(() => { mwHandle.tb_statusMessage.Text = msg; }));
// }
//}
// Event handler koji se poziva kad zavrsi analiza slike za mjerenje diametara
private static void HalconUpdate(HDevelopExport sender, HalconEventArgs e)
{
App.PLC.WriteTag(PLC.STATUS.Kamere.CAM4Rezultat, e.PXvalue);
App.PLC.WriteTag(PLC.STATUS.Kamere.CAM3Rezultat, e.CameraTemp);
App.PLC.WriteTag(PLC.STATUS.Kamere.CAM4AnalizaOk, true);
Thread.Sleep(100);
App.PLC.WriteTag(PLC.STATUS.Kamere.CAM4AnalizaOk, false);
// e.PXvalue = 0.0f;
}
/// <summary>
/// 更新显示控件
/// </summary>
/// <param name="ctl"></param>
public override void UpdateVisionControl(VisionControl ctl)
{
ctl.LockDisplay();
try
{
if (imgSrc != null && imgSrc.IsInitialized() && imgSrc.Key != IntPtr.Zero)
{
HTuple num = 0;
HOperatorSet.CountObj(imgSrc, out num);
if (num > 0)//&& m_image.IsInitialized() && m_image.Key != IntPtr.Zero)
{
HOperatorSet.DispObj(imgSrc, ctl.GetHalconWindow());
}
// HOperatorSet.DispObj(ModelContour, ctl.GetHalconWindow());
//if (MeasureRect != null && MeasureRect.IsInitialized())
//{
// HOperatorSet.SetColor(m_visionControl.GetHalconWindow(), "red");
// HOperatorSet.DispObj(MeasureRect, ctl.GetHalconWindow());
//}
if (Lines != null && Lines.IsInitialized())
{
HOperatorSet.SetColor(m_visionControl.GetHalconWindow(), "blue");
HOperatorSet.DispObj(Lines, ctl.GetHalconWindow());
}
if (IntraDistance != null && IntraDistance.Length > 0)
{
if (IntraDistance.Type == HTupleType.STRING)
{
HDevelopExport.disp_message(m_visionControl.GetHalconWindow(),
IntraDistance, "window", 20, -1, "green", "false");
}
else
{
var value = SideCameraCalibData.PixelToMm(IntraDistance);
HDevelopExport.disp_message(m_visionControl.GetHalconWindow(),
$"{value:F2}", "window", 20, -1, "green", "false");
}
}
}
}
catch (HalconException HDevExpDefaultException1)
{
System.Diagnostics.Debug.WriteLine(HDevExpDefaultException1.ToString());
}
catch (Exception exp)
{
System.Diagnostics.Debug.WriteLine(exp.ToString());
}
finally
{
ctl.UnlockDisplay();
}
}
private void FindCalibObjPose(Object sender, EventArgs e)
{
HTuple ImgPath = "D:/Tool/Calvin/NET_Project/caltab/";
HTuple StartCamPar = new HTuple(0.012, 0, 0.0000022, 0.0000022, 2592 / 2, 1944 / 2, 2592, 1944);//(Focus, Kappa, Sx, Sy, Cx, Cy, Width, Height)
HTuple CameraType = "area_scan_division";
HTuple PoseInfo = new HTuple("TransX", "TransY", "TransZ", "RotationX", "RotationY", "RotationZ", "Type");
HTuple PoseUnit = new HTuple("mm", "mm", "mm", "deg", "deg", "deg", "");
HTuple CalibDataID, objInCameraPose;
HOperatorSet.SetDraw(hWindowControl.HalconWindow, "margin");
//HOperatorSet.GenCaltab(7, 7, 0.005, 0.5, ImgPath + "caltab.descr", ImgPath + "caltab.ps");
HOperatorSet.CreateCalibData("calibration_object", 1, 1, out CalibDataID);
HOperatorSet.SetCalibDataCamParam(CalibDataID, 0, CameraType, StartCamPar);
HOperatorSet.SetCalibDataCalibObject(CalibDataID, 0, ImgPath + "caltab.descr");
if (AcqHandle.Length > 0)
{
HObject Image;
HOperatorSet.SetFramegrabberParam(AcqHandle, "ExposureTimeRaw", 100000);
HOperatorSet.GrabImageStart(AcqHandle, -1);
{
HOperatorSet.GrabImageAsync(out Image, AcqHandle, -1);
HGraphics.allObj["pic"] = Image;
HGraphics.SetFullImagePart(Image);
}
}
try
{
HOperatorSet.FindCalibObject(HGraphics.allObj["pic"], CalibDataID, 0, 0, 1, new HTuple(), new HTuple());
HOperatorSet.GetCalibDataObservPose(CalibDataID, 0, 0, 1, out objInCameraPose);
HOperatorSet.SetSystem("flush_graphic", "false");
HOperatorSet.DispObj(HGraphics.allObj["pic"], hWindowControl.HalconWindow);
HOperatorSet.SetColor(hWindowControl.HalconWindow, "green");
HOperatorSet.DispCaltab(hWindowControl.HalconWindow, ImgPath + "caltab.descr", StartCamPar, objInCameraPose, 1);
objInCameraPose[0] = objInCameraPose[0] * 1000;
objInCameraPose[1] = objInCameraPose[1] * 1000;
objInCameraPose[2] = objInCameraPose[2] * 1000;
HDevelopExport.disp_message(hWindowControl.HalconWindow, (PoseInfo + ": " + objInCameraPose.TupleRound() + "." + (objInCameraPose.TupleSub(objInCameraPose.TupleRound()).TupleAbs() * 1000).TupleRound() + " " + PoseUnit).TupleSelectRange(0, 5), "window", 12, 12, "green", "false");
HOperatorSet.SetSystem("flush_graphic", "true");
HOperatorSet.DispLine(hWindowControl.HalconWindow, -4, -4, -4, -4);
}
catch (Exception ex)
{
HOperatorSet.SetSystem("flush_graphic", "false");
HOperatorSet.DispObj(HGraphics.allObj["pic"], hWindowControl.HalconWindow);
HOperatorSet.SetColor(hWindowControl.HalconWindow, "green");
HDevelopExport.disp_message(hWindowControl.HalconWindow, PoseInfo.TupleSelectRange(0, 5) + ": ???", "window", 12, 12, "green", "false");
HOperatorSet.SetSystem("flush_graphic", "true");
HOperatorSet.DispLine(hWindowControl.HalconWindow, -4, -4, -4, -4);
}
}
public App()
{
InitializeComponent();
// Load saved data from JSON file
string DataBaseFileName = "savedata.JSON";
string DataBasePath = Path.Combine(Environment.CurrentDirectory, @"database", DataBaseFileName);
String JSONstring = File.ReadAllText(DataBasePath);
savedata = JsonConvert.DeserializeObject <List <ReportInterface.DimensionLine> >(JSONstring);
// If JSON is empty we have null
if (savedata == null)
{
savedata = new List <ReportInterface.DimensionLine>();
}
// Load test data from JSON file
string TestDataBaseFileName = "testdata.JSON";
string TestDataBasePath = Path.Combine(Environment.CurrentDirectory, @"database", TestDataBaseFileName);
String TestJSONstring = File.ReadAllText(TestDataBasePath);
testdata = JsonConvert.DeserializeObject <List <ReportInterface.TestData> >(TestJSONstring);
// If JSON is empty we have null
if (testdata == null)
{
testdata = new List <ReportInterface.TestData>();
}
System.Diagnostics.Process.GetCurrentProcess().PriorityClass = System.Diagnostics.ProcessPriorityClass.High;
//MainReportInterface = ((ReportInterface)Application.Current.FindResource("MainReport"));
PLC = ((PLCInterface)Application.Current.FindResource("PLCinterf"));
HDevExp = new HDevelopExport();
pIzvjestaji = new PIzvjestaji();
pPostavke = new PPostavke();
pRobot = new PRobot();
pPoroznost = new PPoroznost();
pUcenje = new PUcenje();
pVisine = new PVisine();
pDijametri = new PDijametri();
pRucno = new PRucno();
//Report interface
//initReportInterface = new ReportInterface();
PLC.StartCyclic(); // Possible system null reference
PLC.Update_Online_Flag += new PLCInterface.OnlineMarker(PLCInterface_PLCOnlineChanged);
PLC.Update_100_ms += new PLCInterface.UpdateHandler(PLC_Update_100_ms);
//PLC.Update_1_s += new PLCInterface.UpdateHandler(PLC_Update_1_s);
HDevExp.UpdateResult += new HDevelopExport.UpdateHandler(HalconUpdate);
HDevExp.UpdateResultPick += new HDevelopExport.UpdateHandlerPick(PickUpdate);
HDevExp.PorosityDetected += new HDevelopExport.PorosityDetectedEventHandler(PorosityIsDetected);
HDevExp.PorosityDetectionStart += new HDevelopExport.PorosityDetectionStartEventHandler(DetectionStart);
HDevExp.PorosityDetectionHorStart += new HDevelopExport.PorosityDetectionHorStartEventHandler(DetectionHorStart);
// Frame always ON CAM4
//HDevExp.OpenCamFrame();
}
public HDevelopTemplate()
{
//
// Required for Windows Form Designer support
//
InitializeComponent();
//
// TODO: Add any constructor code after InitializeComponent call
//
HDevExp = new HDevelopExport();
}
public frmMain()
{
InitializeComponent();
//myConfig = new ConfigInfo();
//Pro.SelectedObject = myConfig;
//Pro.PropertyValueChanged += Pro_PropertyValueChanged;
nExpTime = 2000;
fCamGain = 1.1f;
bVideoMode = false;
strSavePathOK = "";
strSavePathNG = "";
strFileName = "";
imgOri = null;
detectInstanceDyn = null;
detectInstanceNorm = null;
}
public override bool ProcessImage(VisionControl ctl)
{
try
{
ctl.clearObj();
ctl.DisplayResults();
//保存图像
//string imageName = $"{DateTime.Now:HHmmss}.tiff";
//if (AutoForm._autoForm.Param.IsSaveImageAll)
//{
// //保存原图
// string path = $@"{ProductMgr.GetInstance().ProductPath}Images\Platform\{DateTime.Now:yyMMdd}\Source\";
// if (!System.IO.Directory.Exists(path))
// {
// System.IO.Directory.CreateDirectory(path);
// }
// string fileName = $"{path}{imageName}";
// HDevelopExport.WriteImage(imgSrc, fileName);
//}
//图像预处理
HObject image;
if (ProductMgr.GetInstance().Param.PlatformRegion != null)
{
HOperatorSet.ReduceDomain(imgSrc, ProductMgr.GetInstance().Param.PlatformRegion, out image);
//if (ProductMgr.GetInstance().Param.IsPerprocess)
//{
// image = HDevelopExport.Preprocess(image, ProductMgr.GetInstance().Param.Emphasize, false);
//}
}
else
{
image = imgSrc;
}
//查找模板
HTuple row, column, angle, scale, score;
bool result = HDevelopExport.FindScaleShapeModel(image, out row, out column, out angle, out scale, out score);
//显示轮廓
HDevelopExport.dev_display_shape_matching_results(ctl.GetHalconWindow(),
ProductMgr.GetInstance().Param.ModelID, "blue", row, column, angle, scale, scale, 0);
/*
* //二次定位
* if (result && ProductMgr.GetInstance().Param.IsSecondPos)
* {
* HTuple transRow, transColumn, transRadian;
* result = HDevelopExport.FindPinCenter(imgSrc, row, column, angle, out transRow, out transColumn, out transRadian);
*
* if (result)
* {
* row = transRow;
* column = transColumn;
* angle = transRadian;
* }
*
* //ctl.DisplayResults();
* }
*/
if (!result)
{
Log.Show("查找模板失败");
}
else
{
//弧度差
HTuple relRow, relColumn, relRadian, rowTrans, colTrans;
//relRadian = PlatformCalibData.MarkRadian - angle;
relRadian = 0 - angle;
//旋转特征点
//HTuple homMat2D;
//HOperatorSet.HomMat2dIdentity(out homMat2D);
//HOperatorSet.HomMat2dRotate(homMat2D, relRadian, PlatformCalibData.CenterRow, PlatformCalibData.CenterColumn, out homMat2D);
//HOperatorSet.AffineTransPixel(homMat2D, row, column, out rowTrans, out colTrans);
//以平台Mark点为基准
//relRow = PlatformCalibData.MarkRow - rowTrans;
//relColumn = PlatformCalibData.MarkColumn - colTrans;
//没有旋转，直接计算X和Y方向的差值，下面的角度只用于显示
//relRow = PlatformCalibData.MarkRow - row;
//relColumn = PlatformCalibData.MarkColumn - column;
//弧度转角度
HTuple degree;
HOperatorSet.TupleDeg(relRadian, out degree);
//赋值给需要发送的数据
//SendData.X = PlatformCalibData.PixelToMm(relColumn);
//SendData.Y = PlatformCalibData.PixelToMm(relRow);
//SendData.Angle = degree;
//用矩阵获得Mark点的世界坐标和模板的世界坐标，求差值
HTuple colMark, rowMark;
HOperatorSet.AffineTransPixel(PlatformCalibData.HomMat2D, PlatformCalibData.MarkColumn, PlatformCalibData.MarkRow, out colMark, out rowMark);
HOperatorSet.AffineTransPixel(PlatformCalibData.HomMat2D, column, row, out colTrans, out rowTrans);
SendData.X = colMark - colTrans;
SendData.Y = rowMark - rowTrans;
ctl.AddToStack(ProductMgr.GetInstance().Param.ModelContours);
ctl.AddToStack(ProductMgr.GetInstance().Param.ModelOriginContours);
ctl.AddToStack(ProductMgr.GetInstance().Param.MarkContours);
ctl.DisplayResults();
//显示数据到窗口
HTuple deg;
HOperatorSet.TupleDeg(angle, out deg);
Log.Show($"查找模板:row:{row.D:F2},column:{column.D:F2},degree:{deg.D:F2},分数：{score.D:F2}");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"位置：{row.D:F2},{column.D:F2},{degree.D:F2}", "window", 10, -1, "green", "false");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"分数：{score.D:F2}", "window", 30, -1, "green", "false");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"X:{SendData.X:F2},Y:{SendData.Y:F2},A:{SendData.Angle:F2}", "window", 150, -1, "green", "false");
Log.Show($"目标位置：X:{SendData.X:F2},Y:{SendData.Y:F2},A:{SendData.Angle:F2}");
}
//保存查找模板的窗口图片和原图
if (AutoForm._autoForm.Param.IsSaveImageAll)
{
SaveImage(ctl.GetHalconWindow(), result);
}
else
{
if (AutoForm._autoForm.Param.IsSaveImageNG && !result)
{
SaveImage(ctl.GetHalconWindow(), result);
}
}
return(result);
}
catch (Exception)
{
return(false);
}
}
void ThreadRun()
{
HDevelopExport HD = new HDevelopExport(rectHalcon, hWindow);
}
private void btnCalc_Click(object sender, EventArgs e)
{
HDevelopExport hd = new HDevelopExport();
hd.RunHalcon(hWindowControl1.HalconWindow);
}
private void MainForm_Load(object sender, EventArgs e)
{
GetInitialFormSize();
//this.AutoScroll = true;
//this.SetAutoSizeMode(FormSizeWidth,FormSizeHeight);
//this.AutoScrollMinSize.Width = FormSizeWidth;
//this.AutoScrollMinSize.Height = FormSizeHeight;
GetAllCrlLocation(this);
GetAllCrlSize(this);
defect_detection_method = 0;//图像形态学方法
rb_Morphology.Checked = true;
rb_deeplearning.Checked = false;
//this.Resize += new EventHandler(MainForm_Resize);
X = this.Width;
Y = this.Height;
/*
* sim_timer = new System.Windows.Forms.Timer();
* sim_timer.Interval = 1000;
* sim_timer.Enabled = true;
* sim_timer.Tick += new EventHandler(sim_timer_Tick);
*/
setTag(this);
imageList1.Dispose();
imageList1 = new ImageList();
skillArray = JsonMapper.ToObject <Image_Resource[]>(File.ReadAllText("images\\res.json", Encoding.UTF8));//使用这种方法，泛型类的字段，属性必须为public，而且字段名，顺序必须与json文件中对应
foreach (var temp in skillArray)
{
Console.WriteLine(temp);
}
//imageList1.Images.Clear();
//for (int i=1;i<= skillArray[0].number; i++)
//{
// imageList1.Images.Add(Image.FromFile(skillArray[0].path + skillArray[0].prefix+string.Format("{0:00}.bmp", i)));
// HOperatorSet.ReadImage(out ImageArrary[i-1], skillArray[0].path + skillArray[0].prefix + string.Format("{0:00}.bmp", i));
//}
for (int i = 0; i < skillArray.Length; i++)
{
cbSampleData.Items.Add(skillArray[i].name);
}
/*
* 2018.09拍摄钢管
* 2018.08东莞样图
* 2018.06塑料样图
*/
cbSampleData.SelectedIndex = 2;
//this.lvPictureList.View = View.LargeIcon;
//this.lvPictureList.LargeImageList = this.imageList1;
//this.lvPictureList.BeginUpdate();
////数据更新，UI暂时挂起，直到EndUpdate绘制控件，可以有效避免闪烁并大大提高加载速度
//for (int i = 0; i < skillArray[0].number; i++)//添加10行数据
//{
// ListViewItem lvi = new ListViewItem();
// lvi.ImageIndex = i;
// //通过与imageList绑定，显示imageList中第i项图标
// lvi.Text = skillArray[0].prefix + string.Format("{0:00}.bmp", i+1);
// lvi.Text = skillArray[0].prefix + string.Format("{0:00}.bmp", i + 1);
// this.lvPictureList.Items.Add(lvi);
//}
//this.lvPictureList.EndUpdate();
hdev_export = new HDevelopExport(hWindowControl1.HalconWindow);
// hdev_export = new HDevelopExport();
//MainForm_Resize(new object(), new EventArgs());//x,y可在实例化时赋值,最后这句是新加的，在MDI时有用
}
void RunCheck()
{
Stopwatch sw = new Stopwatch();
sw.Start(); //计时开始
string strLog = null;
//判断用变量
try
{
int judgeFlag = 1;
HDevelopExport HD = new HDevelopExport();
HD.RunHalcon(HWCWPF.HalconWindow);
//HD.cs_Quality[] 结果数组
for (int i = 0; i < HD.cs_Quality.Length; i++)
{
strLog += HD.cs_Quality[i].F.ToString("f2") + ","; //log输出用
resultList[i].Content = HD.cs_Quality[i].F.ToString("f2"); //界面显示
if (HD.cs_Quality[i].F > Convert.ToDouble(spectable.Rows[i][1]))
{
this.judgeList[i].Content = "OK";
this.judgeList[i].Foreground = new SolidColorBrush(Color.FromRgb(0, 255, 0));
}
else
{
judgeList[i].Content = "NG";
this.judgeList[i].Foreground = new SolidColorBrush(Color.FromRgb(255, 0, 0));
HOperatorSet.SetColor(HWCWPF.HalconWindow, "red");
HOperatorSet.SetDraw(HWCWPF.HalconWindow, "margin");
HOperatorSet.SetLineWidth(HWCWPF.HalconWindow, 3);
HOperatorSet.DispCircle(HWCWPF.HalconWindow, HD.cs_y[i], HD.cs_x[i], 20);
judgeFlag = -1;
}
}
//总的判断
if (judgeFlag == 1)
{
this.finalLbl.Content = "OK";
this.finalLbl.Foreground = new SolidColorBrush(Colors.Green);
using (SoundPlayer player = new SoundPlayer())
{
string location = System.Environment.CurrentDirectory + "/OK.wav";
player.SoundLocation = location;
player.Play();
}
okCount++;
okCountLbl.Content = okCount;
}
else
{
this.finalLbl.Content = "NG";
this.finalLbl.Foreground = new SolidColorBrush(Colors.Red);
using (SoundPlayer player = new SoundPlayer())
{
string location = System.Environment.CurrentDirectory + "/NG.wav";
player.SoundLocation = location;
player.Play();
}
ngCount++;
ngCountLbl.Content = ngCount;
}
}
catch (Exception Err)
{
MessageBox.Show(Err.Message);
LogSet(Err.Message);
}
finally
{
GC.Collect();
}
//计时结束
sw.Stop();
TimeSpan ts = sw.Elapsed;
tactLbl.Content = ts.TotalSeconds.ToString("0.000");
insLog(strLog);
}
/// <summary>
/// 检测函数
/// </summary>
private void Detect()
{
pbImage.Visible = false;
hWindowCtrl.Visible = true;
if (imgOri != null)
{
Int32 nDefects = 0;
Int32 nMode = 0; // detection method selection
String strFullFileName;
if (string.IsNullOrEmpty(ParamSetting.ImageSavePath))
{
ParamSetting.ImageSavePath = Application.StartupPath;
}
strFullFileName = ParamSetting.ImageSavePath + "\\" + strFileName;
// save temp image
imgOri.Save(strFullFileName);
switch (nMode)
{
case 0:
// method 0: dynamic thresholding
detectInstanceDyn = new HDevelopExport();
detectInstanceDyn.InitHalcon();
if (File.Exists(strFullFileName))
{
detectInstanceDyn.RunHalcon(hWindowCtrl.HalconWindow, strFullFileName, ParamSetting.MeasureParam.MinArea, ParamSetting.MeasureParam.FilterSize, ParamSetting.MeasureParam.DynamicRange, out nDefects);
}
break;
case 1:
// method 1: normal thresholding
detectInstanceNorm = new HDevelopExport1();
detectInstanceNorm.InitHalcon();
if (File.Exists(strFullFileName))
{
detectInstanceNorm.RunHalcon(hWindowCtrl.HalconWindow, strFullFileName, ParamSetting.MeasureParam.MinArea, ParamSetting.MeasureParam.GrayThreshold, out nDefects);
}
break;
}
if (nDefects > 0)
{
lblResult.Text = "NG";
lblResult.BackColor = Color.Red;
if (!string.IsNullOrEmpty(ParamSetting.ImageSavePath))
{
strSavePathNG = ParamSetting.ImageSavePath + "\\" + DateTime.Now.ToShortDateString().Replace("/", "-") + "\\NG";
CheckAndCreatePath(strSavePathNG);
if (pbImage.Image != null)
{
pbImage.Image.Save(strSavePathNG + "\\" + strFileName);
}
}
}
else
{
lblResult.Text = "OK";
lblResult.BackColor = Color.Green;
if (!string.IsNullOrEmpty(ParamSetting.ImageSavePath))
{
strSavePathOK = ParamSetting.ImageSavePath + "\\" + DateTime.Now.ToShortDateString().Replace("/", "-") + "\\OK";
CheckAndCreatePath(strSavePathOK);
if (pbImage.Image != null)
{
pbImage.Image.Save(strSavePathOK + "\\" + strFileName);
}
}
}
}
pbImage.Image = imgOri;
}
public HDevelopTemplate() // Constructor
{
InitializeComponent();
HDevExp = new HDevelopExport();
}
private void button1_Click(object sender, EventArgs e)
{
HDevelopExport HD = new HDevelopExport();
HD.action();
}
/* 检测按钮事件 */
private void btnDetect_Click(object sender, EventArgs e)
{
pbImage.Visible = false;
hWindowCtrl.Visible = true;
if (imgOri != null)
{
Int32 nDefects = 0;
Int32 nMode = 1;
String strFullFileName;
if (strSavePath == "")
{
strSavePath = Application.StartupPath;
}
strFullFileName = strSavePath + strFileName;
// save temp image
imgOri.Save(strFullFileName);
switch (nMode)
{
case 0:
// method 0: dynamic thresholding
detectInstanceDyn = new HDevelopExport();
detectInstanceDyn.InitHalcon();
if (File.Exists(strFullFileName))
{
detectInstanceDyn.RunHalcon(hWindowCtrl.HalconWindow, strFullFileName, myConfig.面积, myConfig.滤波尺寸, myConfig.动态二值化阈值, out nDefects);
}
break;
case 1:
// method 1: normal thresholding
detectInstanceNorm = new HDevelopExport1();
detectInstanceNorm.InitHalcon();
if (File.Exists(strFullFileName))
{
detectInstanceNorm.RunHalcon(hWindowCtrl.HalconWindow, strFullFileName, myConfig.面积, myConfig.灰度值, out nDefects);
}
break;
}
if (nDefects > 0)
{
lblResult.Text = "NG";
lblResult.BackColor = Color.Red;
if (strSavePath != null && strSavePath.Length != 0)
{
strSavePathNG = strSavePath + "\\NG";
CheckAndCreatePath(strSavePathNG);
if (pbImage.Image != null)
{
pbImage.Image.Save(strSavePathNG + "\\" + strFileName);
}
}
}
else
{
lblResult.Text = "OK";
lblResult.BackColor = Color.Green;
if (strSavePath != null && strSavePath.Length != 0)
{
strSavePathOK = strSavePath + "\\OK";
CheckAndCreatePath(strSavePathOK);
if (pbImage.Image != null)
{
pbImage.Image.Save(strSavePathOK + "\\" + strFileName);
}
}
}
}
pbImage.Image = imgOri;
}
private void button1_Click(object sender, EventArgs e)
{
string file = "";
if (comboBox1.Text.ToUpper() == "TOP")
{
mSizdType = SideType.TOP;
file = "车顶.txt";
offsetImgageX = offsetImgageXTop;
offsetImgageY = offsetImgageYTop;
}
else if (comboBox1.Text.ToUpper() == "LEFT")
{
mSizdType = SideType.LEFT;
file = "侧边.txt";
offsetImgageX = offsetImgageXLft;
offsetImgageY = offsetImgageYLft;
}
else
{
MessageBox.Show("选择面");
return;
}
int countAdd = 0; //Y方向的间隔 补齐参数 老的是10
if (System.IO.File.Exists(file) == false)
{
MessageBox.Show("File :" + file + " not exist");
return;
}
FileStream fs = new FileStream(file, FileMode.Open);
StreamReader sr = new StreamReader(fs);
obj_MotorP.Clear();
obj_MotorP2P.Clear();
string str;
XYZ tempXyz;
long count = 0;
obj_xyz.Clear();
int[][] buffer;
while ((str = sr.ReadLine()) != null)
{
string[] temp = str.Split(' ');
if (temp.Length != 3)
{
continue;
}
tempXyz.x = (int)double.Parse(temp[0]) + offsetImgageX;
tempXyz.y = double.Parse(temp[1]) - offsetImgageY;
tempXyz.z = double.Parse(temp[2]);
if (obj_xyz.Count == 0)
{
obj_xyz.Add(tempXyz);
}
else
{
if (tempXyz.x != obj_xyz[obj_xyz.Count - 1].x)
{
obj_xyz.Add(tempXyz);
}
}
}
Bitmap bt = new Bitmap(1080, 3000);
for (int w = 0; w < bt.Width; w++)
{
for (int h = 0; h < bt.Height; h++)
{
bt.SetPixel(w, h, System.Drawing.Color.FromArgb(0, 0, 0));
}
}
for (int i = 0; i < obj_xyz.Count; i++)
{
//bt.SetPixel(obj_xyz[i].x, (int)obj_xyz[i].y, System.Drawing.Color.FromArgb(255, 255, 255));
if (i > 1)
{
int offset = obj_xyz[i].x - obj_xyz[i - 1].x;//补齐 x 方向的缺点
if (offset > 1 && offset < 10 && obj_xyz[i].y == obj_xyz[i - 1].y)
{
for (int index = 0; index < offset; index++)
{
bt.SetPixel(obj_xyz[i].x - index, (int)obj_xyz[i].y, System.Drawing.Color.FromArgb(255, 255, 255));
for (int indexAdd = 0; indexAdd < countAdd; indexAdd++)
{
bt.SetPixel(obj_xyz[i].x - index, (int)obj_xyz[i].y + indexAdd, System.Drawing.Color.FromArgb(255, 255, 255));
}
}
}
else
{
bt.SetPixel(obj_xyz[i].x, (int)obj_xyz[i].y, System.Drawing.Color.FromArgb(255, 255, 255));
for (int indexAdd = 0; indexAdd < countAdd; indexAdd++) //补齐Y方向
{
bt.SetPixel(obj_xyz[i].x, (int)obj_xyz[i].y + indexAdd, System.Drawing.Color.FromArgb(255, 255, 255));
}
}
}
else
{
bt.SetPixel(obj_xyz[i].x, (int)obj_xyz[i].y, System.Drawing.Color.FromArgb(255, 255, 255));
for (int index = 0; index < 10; index++)// 补齐y 方向的间隔
{
bt.SetPixel(obj_xyz[i].x, (int)obj_xyz[i].y + index, System.Drawing.Color.FromArgb(255, 255, 255));
}
}
}
sr.Close();
fs.Close();
bt.Save("Conv2.bmp", System.Drawing.Imaging.ImageFormat.Bmp);
if (pictureBox1.Image != null)
{
pictureBox1.Image.Dispose();
}
pictureBox1.Image = bt;
List <Str_Ht> lsHT = new List <Str_Ht>();
HDevelopExport hd = new HDevelopExport();
hd.RunHalcon(ref lsHT, mSizdType);
GetNewImage(lsHT);
}
private void Execute_Click(object sender, EventArgs e)
{
HTuple Width, Height, AbsoluteHisto;
HObject Rectangle, Image;
Image = HGraphics.allObj["pic"].Clone();
//Calculate absolute histogram of the image
HOperatorSet.GetImageSize(HGraphics.allObj["pic"], out Width, out Height);
HOperatorSet.GenRectangle1(out Rectangle, 0, 0, Height - 1, Width - 1);
HOperatorSet.GrayHistoAbs(Rectangle, HGraphics.allObj["pic"], 1, out AbsoluteHisto);
//find the gray value with the greatest frequency
HTuple Indices, BackgroundGrayValue;
HOperatorSet.TupleSortIndex(AbsoluteHisto, out Indices);
HOperatorSet.TupleInverse(Indices, out Indices);
BackgroundGrayValue = Indices.I;
if (BackgroundGrayValue > 255 - 21)
{
BackgroundGrayValue = 255 - 20;
}
//Thresholding
HTuple DilationRadius = 5;
HObject TempRegion, TempContour;
HOperatorSet.Threshold(HGraphics.allObj["pic"], out TempRegion, new HTuple(BackgroundGrayValue.I + 20, 0), new HTuple(255, BackgroundGrayValue.I - 20));
HOperatorSet.Connection(TempRegion, out TempRegion);
HOperatorSet.SelectShape(TempRegion, out TempRegion, "area", "and", 30, 999999);
HOperatorSet.Union1(TempRegion, out TempRegion);
HOperatorSet.DilationCircle(TempRegion, out TempRegion, DilationRadius);
HOperatorSet.FillUp(TempRegion, out TempRegion);
HOperatorSet.GenContourRegionXld(TempRegion, out TempContour, "border");
HOperatorSet.SmoothContoursXld(TempContour, out TempContour, 5);
HOperatorSet.GenRegionContourXld(TempContour, out TempRegion, "filled");
HOperatorSet.ErosionCircle(TempRegion, out TempRegion, 5);
HGraphics.allObj["1_defectregion_erosion_red_margin_thick"] = TempRegion.Clone();
HOperatorSet.Union1(TempRegion, out TempRegion);
HOperatorSet.ReduceDomain(Image, TempRegion, out Image);
HObject DiffOfGauss, RegionCrossings;
HOperatorSet.DiffOfGauss(Image, out DiffOfGauss, 4, 50);
HOperatorSet.DualThreshold(DiffOfGauss, out RegionCrossings, 20, 11, 11);
HGraphics.allObj["crossingregion_colored_margin"] = RegionCrossings;
HGraphics.display();
HTuple Number, Area, Row, Column, Convexity, Min, Max, Range, Mean, Deviation, Circularity;
HTuple DefectInfo = new HTuple("XY", "Size", "Max", "Min", "Mean", "Deviation", "Circularity", "Convexity");
HOperatorSet.CountObj(HGraphics.allObj["1_defectregion_erosion_red_margin_thick"], out Number);
HOperatorSet.SetFont(hWindowControl.HalconWindow, "-Arial-12-*-0.5-*-*-1-ANSI_CHARSET-");
for (int Index = 1; Index <= Number; Index++)
{
HOperatorSet.SelectObj(HGraphics.allObj["1_defectregion_erosion_red_margin_thick"], out TempRegion, Index);
HOperatorSet.AreaCenter(TempRegion, out Area, out Row, out Column);
HOperatorSet.Convexity(TempRegion, out Convexity);
HOperatorSet.MinMaxGray(TempRegion, Image, 0, out Min, out Max, out Range);
HOperatorSet.Intensity(TempRegion, Image, out Mean, out Deviation);
HOperatorSet.RegionFeatures(TempRegion, "circularity", out Circularity);
HTuple Unit = new HTuple("(" + Row + ", " + Column + ")", Area, Max, Min, Mean, Deviation, Circularity, Convexity);
HDevelopExport.disp_message(hWindowControl.HalconWindow, DefectInfo + ": " + Unit, "image", Row, Column, "green", "false");
}
HOperatorSet.SetFont(hWindowControl.HalconWindow, "-Courier New-18-*-*-*-*-1-");
HDevelopExport.disp_message(hWindowControl.HalconWindow, "Number of Defect: " + Number, "window", 12, 12, "green", "false");
}
public override bool ProcessImage(VisionControl ctl)
{
try
{
//清理数据
foreach (var mea in MeasureMgr.GetInstance().MeasureList)
{
mea.ClearResult();
}
ctl.clearObj();
ctl.DisplayResults();
//保存图像
//string imageName = $"{DateTime.Now:HHmmss}.tiff";
//if (AutoForm._autoForm.Param.IsSaveImageAll)
//{
// //保存原图
// string path = $@"{ProductMgr.GetInstance().ProductPath}Images\Robot\{DateTime.Now:yyMMdd}\Source\";
// if (!System.IO.Directory.Exists(path))
// {
// System.IO.Directory.CreateDirectory(path);
// }
// string fileName = $"{path}{imageName}";
// HDevelopExport.WriteImage(imgSrc, fileName);
//}
//图像预处理
HObject image;
if (ProductMgr.GetInstance().Param.PlatformRegion != null)
{
HOperatorSet.ReduceDomain(imgSrc, ProductMgr.GetInstance().Param.PlatformRegion, out image);
//if (ProductMgr.GetInstance().Param.IsPerprocess)
//{
// image = HDevelopExport.Preprocess(image, ProductMgr.GetInstance().Param.Emphasize, false);
//}
}
else
{
image = imgSrc;
}
//查找模板
HTuple row, column, angle, scale, score;
bool result = HDevelopExport.FindScaleShapeModel(image, out row, out column, out angle, out scale, out score);
//显示轮廓
HDevelopExport.dev_display_shape_matching_results(ctl.GetHalconWindow(),
ProductMgr.GetInstance().Param.ModelID, "blue", row, column, angle, scale, scale, 0);
if (result && ProductMgr.GetInstance().Param.IsSecondPos)
{
HTuple transRow, transColumn, transRadian;
result = HDevelopExport.FindPinCenter(imgSrc, row, column, angle, out transRow, out transColumn, out transRadian);
if (result)
{
row = transRow;
column = transColumn;
angle = transRadian;
}
//ctl.DisplayResults();
}
if (!result)
{
Log.Show("查找模板失败");
return(false);
}
//*************相对位置**************
//HTuple relRow, relColumn;
//relRow = PlatformCalibData.MarkRow - row;
//relColumn = PlatformCalibData.MarkColumn - column;
//SendData.X = PlatformCalibData.PixelToMm(relColumn);
//SendData.Y = PlatformCalibData.PixelToMm(relRow);
//用矩阵获得Mark点的世界坐标和模板的世界坐标，求差值
HTuple colMark, rowMark, rowTrans, colTrans;
HOperatorSet.AffineTransPixel(PlatformCalibData.HomMat2D, PlatformCalibData.MarkColumn, PlatformCalibData.MarkRow, out colMark, out rowMark);
HOperatorSet.AffineTransPixel(PlatformCalibData.HomMat2D, column, row, out colTrans, out rowTrans);
SendData.X = colMark - colTrans;
SendData.Y = rowMark - rowTrans;
Log.Show($"目标位置：X:{SendData.X:F2},Y:{SendData.Y:F2}");
//***********************测量****************************
MeasureMgr.GetInstance().MeasureAll(image, row, column, angle);
//显示数据
int hasCount = 0, meaCount = 0;
for (int i = 0; i < MeasureMgr.GetInstance().MeasureList.Count; i++)
{
var mea = MeasureMgr.GetInstance().MeasureList[i];
hasCount += mea.PinCount;
meaCount += mea.CountOK + mea.CountAreaNG + mea.CountPosNG;
//发送的数据
SendData.CountAreaNG += mea.CountAreaNG;
SendData.CountPosNG += mea.CountPosNG;
if (mea.DiameterMax.Length > 0)
{
//显示和保存数据
Data.Show(i, mea.DiameterMax.ToDArr(), mea.DisLeft.ToDArr(), mea.DisRight.ToDArr(), mea.DisTop.ToDArr());
}
}
ctl.AddToStack(ProductMgr.GetInstance().Param.ModelContours);
ctl.AddToStack(ProductMgr.GetInstance().Param.ModelOriginContours);
ctl.AddToStack(ProductMgr.GetInstance().Param.MarkContours);
ctl.DisplayResults();
//显示数据到窗口
HTuple degree;
HOperatorSet.TupleDeg(angle, out degree);
Log.Show($"查找模板:row:{row.D:F2},column:{column.D:F2},degree:{degree.D:F2},分数：{score.D:F2}");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"位置：{row.D:F2},{column.D:F2},{degree.D:F2}", "window", 10, -1, "green", "false");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"分数：{score.D:F2}", "window", 30, -1, "green", "false");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"X:{SendData.X:F2},Y:{SendData.Y:F2}", "window", 150, -1, "green", "false");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"{hasCount}-{meaCount}", "window", 170, -1, "green", "false");
if (SendData.CountAreaNG > 0)
{
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"面积NG:{SendData.CountAreaNG}", "window", 190, -1, "red", "false");
}
if (SendData.CountPosNG > 0)
{
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"位置NG:{SendData.CountPosNG}", "window", 210, -1, "magenta", "false");
}
//显示日志
Log.Show($"面积NG:{SendData.CountAreaNG}，位置NG:{SendData.CountPosNG}");
//保存窗口图像和原图
result = result && SendData.CountAreaNG == 0 && SendData.CountPosNG == 0;
if (AutoForm._autoForm.Param.IsSaveImageAll)
{
SaveImage(ctl.GetHalconWindow(), result);
}
else
{
if (AutoForm._autoForm.Param.IsSaveImageNG && !result)
{
SaveImage(ctl.GetHalconWindow(), result);
}
}
return(true);
}
catch (Exception)
{
return(false);
}
}
private void Form1_Load(object sender, EventArgs e)
{
HDevelopExport hd = new HDevelopExport();
hd.RunHalcon(hWindowControl1.HalconWindow);
}
private void btnCreateRoi_Click(object sender, EventArgs e)
{
HDevelopExport HD = new HDevelopExport();
HD.RunHalcon(hWindowControl1.HalconWindow);
}
public static void thisStart( )
{
HDevelopExport.acquireimage();
}
public HDevelopTemplate()
{
InitializeComponent();
HDevExp = new HDevelopExport();
}
static HDevelopExport()
{
Singletone = new HDevelopExport();
}
public override bool ProcessImage(VisionControl ctl)
{
try
{
//清理数据
foreach (var mea in MeasureMgr.GetInstance().MeasureList)
{
mea.ClearResult();
}
ctl.clearObj();
ctl.DisplayResults();
//图像预处理
HObject image;
if (ProductMgr.GetInstance().Param.PlatformRegion != null)
{
HOperatorSet.ReduceDomain(imgSrc, ProductMgr.GetInstance().Param.PlatformRegion, out image);
}
else
{
image = imgSrc;
}
//查找模板
HTuple row, column, angle, scale, score;
bool result = HDevelopExport.FindScaleShapeModel(image, out row, out column, out angle, out scale, out score);
//显示轮廓
HDevelopExport.dev_display_shape_matching_results(ctl.GetHalconWindow(),
ProductMgr.GetInstance().Param.ModelID, "blue", row, column, angle, scale, scale, 0);
if (!result)
{
Log.Show("查找模板失败");
return(false);
}
//***********************测量****************************
image = MeasureMgr.GetInstance().ImagePre(image);
MeasureMgr.GetInstance().MeasureAll(image, row, column, angle);
//ctl.AddToStack(image);
//显示数据
bool resRoi = true;//每个测量区域都做判断
int hasCount = 0, meaCount = 0;
for (int i = 0; i < MeasureMgr.GetInstance().MeasureList.Count; i++)
{
var mea = MeasureMgr.GetInstance().MeasureList[i];
if (mea.PinCount != mea.CountPinMea)
{
resRoi = false;
}
hasCount += mea.PinCount;
//meaCount += mea.CountOK + mea.CountAreaNG + mea.CountPosNG;
meaCount += mea.CountPinMea;
//发送的数据
//SendData.CountAreaNG += mea.CountAreaNG;
//SendData.CountPosNG += mea.CountPosNG;
//if (mea.DiameterMax.Length > 0)
//{
// //显示和保存数据
// Data.Show(i, mea.DiameterMax.ToDArr(), mea.DisLeft.ToDArr(), mea.DisRight.ToDArr(), mea.DisTop.ToDArr());
//}
}
string color = "green";
if (resRoi && hasCount == meaCount)
{
color = "green";
SendData.PinCountOK = true;
}
else
{
color = "red";
SendData.PinCountOK = false;
}
ctl.AddToStack(ProductMgr.GetInstance().Param.ModelContours);
ctl.AddToStack(ProductMgr.GetInstance().Param.ModelOriginContours);
//ctl.AddToStack(ProductMgr.GetInstance().Param.MarkContours);
ctl.DisplayResults();
for (int i = 0; i < MeasureMgr.GetInstance().MeasureList.Count; i++)
{
var mea = MeasureMgr.GetInstance().MeasureList[i];
if (mea.PinCount == mea.CountPinMea)
{
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"ROI{i}数量：{mea.PinCount}，测量数量：{mea.CountPinMea}", "window", 10 + 20 * i, -1, "green", "false");
}
else
{
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"ROI{i}数量：{mea.PinCount}，测量数量：{mea.CountPinMea}", "window", 10 + 20 * i, -1, "red", "false");
}
}
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"总数量：{hasCount}，测量数量：{meaCount}", "window", 10 + 20 * MeasureMgr.GetInstance().MeasureList.Count, -1, color, "false");
//保存窗口图像和原图
result = result && SendData.CountAreaNG == 0 && SendData.CountPosNG == 0;
if (AutoForm._autoForm.Param.IsSaveImageAll)
{
SaveImage(ctl.GetHalconWindow(), result);
}
else
{
if (AutoForm._autoForm.Param.IsSaveImageNG && !result)
{
SaveImage(ctl.GetHalconWindow(), result);
}
}
return(true);
}
catch (Exception)
{
return(false);
}
}
public static void Init(HTuple wind)
{
HDevelopExport.mWindow = wind;
HDevelopExport.acquireimage();
}
private void HalconUpdate(HDevelopExport sender, HalconEventArgs e)
{
App.PLC.WriteTag(PLC.STATUS.Kamere.CAM4Rezultat, e.PXvalue);
App.PLC.WriteTag(PLC.STATUS.Kamere.CAM4AnalizaOk, true);
App.PLC.WriteTag(PLC.STATUS.Kamere.CAM4AnalizaOk, false);
}