//仿射变换后的全部轮廓
public void GenDetectionXLDResults(HXLDCont modelXldCont)
{
if (resultXLDCont == null)
{
resultXLDCont = new HXLDCont();
}
if (resultXLDCont != null && resultXLDCont.IsInitialized())
{
resultXLDCont.Dispose();
}
resultXLDCont.GenEmptyObj();
HXLDCont rContours;
for (int i = 0; i < row.Length; i++)
{
HHomMat2D mat1 = new HHomMat2D();
mat1.VectorAngleToRigid(0, 0, 0, row[i].D, column[i].D, angle[i].D);
mat1 = mat1.HomMat2dScale(scale[i].D, scale[i].D, row[i].D, column[i].D);
//图像偏移
rContours = mat1.AffineTransContourXld(modelXldCont);
//获取模板集合
resultXLDCont = resultXLDCont.ConcatObj(rContours);
rContours.Dispose();
rContours.GenCrossContourXld(row[i].D, column[i].D, 10, angle[i].D);
resultXLDCont = resultXLDCont.ConcatObj(rContours);
rContours.Dispose();
}
}
/// <summary>
/// Creates a measure object based on the model data
/// defined by the ROI instance and the parameters
/// describing the measure context.
/// </summary>
protected void UpdateMeasure()
{
double extent, sPhi, radius;
if (mHandle != null)
{
mHandle.Dispose();
}
mMeasAssist.exceptionText = "";
try
{
switch (mROIType)
{
case ROI.ROI_TYPE_CIRCLEARC:
radius = mROICoord[2].D;
sPhi = mROICoord[3].D;
extent = mROICoord[4].D;
mMeasROI = GenSurCircle(mROICoord, mMeasAssist.mRoiWidth);
mHandle = new HMeasure(mROICoord[0].D, mROICoord[1].D, radius,
sPhi, extent,
mMeasAssist.mRoiWidth,
mMeasAssist.mWidth, mMeasAssist.mHeight,
mMeasAssist.mInterpolation);
break;
case ROI.ROI_TYPE_CIRCLE:
//記錄 ROI 範圍
mMeasROI = GenSurCircle2(mROICoord, mMeasAssist.mRoiWidth);
break;
case ROI.ROI_TYPE_LINE:
case ROI.ROI_TYPE_POINT:
mMeasROI = GenSurRect2(mROICoord, mROICoord[4]);
mHandle = new HMeasure(mMeasROI[0].D, mMeasROI[1].D,
mMeasROI[2].D, mMeasROI[3].D, mMeasROI[4].D,
mMeasAssist.mWidth, mMeasAssist.mHeight,
mMeasAssist.mInterpolation);
break;
}
}
catch (HOperatorException e)
{
mEdgeXLD.Dispose();
mMeasureRegion.Dispose();
mMeasAssist.exceptionText = e.Message;
ClearResultData();
return;
}
UpdateResults();
UpdateMeasureRegion();
}
/// <summary>Paints the ROI into the supplied window</summary>
/// <param name="window">HALCON window</param>
public override void draw(HalconDotNet.HWindow window)
{
//畫個 x
double crossSize = 12;
double crossAngle = 0.785398;
//Reset line Style
HOperatorSet.SetLineStyle(window, null);
if (!_initPointsDone)
{
foreach (var dot in _clickedPointsPositionList)
{
HOperatorSet.DispCross(window, dot.RowBegin, dot.ColBegin, crossSize, crossAngle);
}
}
else
{
//畫弧線
contour.Dispose();
contour.GenCircleContourXld(midR, midC, radius, _startPhi,
(_startPhi + _extentPhi), _pointOrder, 1.0);
this._beginRow = midR + Math.Sin(_startPhi) * radius;
this._beginCol = midC + Math.Cos(_startPhi) * radius;
window.DispObj(contour);
drawOuterArc(window);
//畫控制點
window.DispRectangle2(sizeR, sizeC, 0, 5, 5);
window.DispRectangle2(midR, midC, 0, 5, 5);
window.DispRectangle2(startR, startC, _startPhi, 10, 2);
window.DispObj(arrowHandleXLD);
}
}
public bool setTarget(List <HHomMat2D> mat2DsList)
{
if (mat2DsList == null || mat2DsList.Count < 1)
{
return(false);
}
if (GrabXld != null && GrabXld.IsInitialized())
{
GrabXld.Dispose();
}
else
{
GrabXld = new HXLDCont();
GrabXld.GenEmptyObj();
}
GrabRowTarget = new HTuple();
GrabColTarget = new HTuple();
HTuple rowTemp, colTemp;
for (int i = 0; i < mat2DsList.Count; i++)
{
HOperatorSet.AffineTransPixel(mat2DsList[i], new HTuple(GrabRowOrg), new HTuple(GrabColOrg), out rowTemp, out colTemp);
GrabRowTarget = GrabRowTarget.TupleConcat(rowTemp);
GrabColTarget = GrabColTarget.TupleConcat(colTemp);
}
return(true);
}
public bool CreateShapeModelAct(HImage modelImage)
{
if (modelImage == null || !modelImage.IsInitialized())
{
return(false);
}
this.modelImage = modelImage;
if (modelRegion == null || !modelRegion.IsInitialized())
{
return(false);
}
try
{
HImage ROIImage = new HImage();
ROIImage.GenEmptyObj();
ROIImage = modelImage.ReduceDomain(modelRegion);
HImage temp = ROIImage.GaussFilter(7);
ROIImage.Dispose();
ROIImage = temp;
hShapeModel = ROIImage.CreateScaledShapeModel(
new HTuple(numLevels),
angleStart, angleExtent, new HTuple(angleStep),
scaleMin, scaleMax, new HTuple(scaleStep),
new HTuple(optimization).TupleConcat("no_pregeneration"),
metric,
((new HTuple(contrastLow)).TupleConcat(contrastHigh)).TupleConcat(minLength),
new HTuple(minContrast));
ROIImage.Dispose();
double row, col;
modelRegion.AreaCenter(out row, out col);
refCoordinates = new HTuple(row, col, 0);
createNewModelID = false;
//初始化modelContours
if (modelXLDCont == null)
{
modelXLDCont = new HXLDCont();
}
if (modelXLDCont != null && modelXLDCont.IsInitialized())
{
modelXLDCont.Dispose();
}
modelXLDCont = hShapeModel.GetShapeModelContours(1);
}
catch
{
hShapeModel = null;
createNewModelID = true;
return(false);
}
return(true);
}
/// <summary>Paints the ROI into the supplied window</summary>
/// <param name="window">HALCON window</param>
public override void draw(HalconDotNet.HWindow window)
{
contour.Dispose();
contour.GenCircleContourXld(midR, midC, radius, startPhi,
(startPhi + extentPhi), circDir, 1.0);
window.DispObj(contour);
window.DispRectangle2(sizeR, sizeC, 0, 5, 5);
window.DispRectangle2(midR, midC, 0, 5, 5);
window.DispRectangle2(startR, startC, startPhi, 10, 2);
window.DispObj(arrowHandleXLD);
}
/// <summary>Paints the ROI into the supplied window</summary>
/// <param name="window">HALCON window</param>
public override void Draw(HWindow window)
{
contour.Dispose();
contour.GenCircleContourXld(midR, midC, radius, startPhi,
(startPhi + extentPhi), circDir, 1.0);
window.DispObj(contour);
window.DispRectangle2(sizeR, sizeC, 0, RoiDrawConfig.PaneWidth, RoiDrawConfig.PaneWidth);
window.DispRectangle2(midR, midC, 0, RoiDrawConfig.PaneWidth, RoiDrawConfig.PaneWidth);
//window.DispRectangle2(startR, startC, startPhi, 10, 2);
window.DispRectangle2(startR, startC, startPhi, RoiDrawConfig.PaneWidth * 2, RoiDrawConfig.PaneWidth / 2);
window.DispObj(arrowHandleXLD);
}
public override void DisplayDetail(HWindow_Final window)
{
window.DispObj(contours, "green");
window.DispObj(cross, "red");
contours.Dispose();
cross.Dispose();
base.DisplayDetail(window);
}
/// <summary>Paints the ROI into the supplied window</summary>
/// <param name="window">HALCON window</param>
public override void draw(hvppleDotNet.HWindow window, int imageWidth, int imageHeight)
{
contour.Dispose();
contour.GenCircleContourXld(midR, midC, radius, startPhi,
(startPhi + extentPhi), circDir, 1.0);
double littleRecSize = getHandleWidth(imageWidth, imageHeight);
window.DispObj(contour);
window.DispLine(startR, startC, midR, midC);
window.DispLine(extentR, extentC, midR, midC);
window.SetDraw("fill");
window.DispRectangle2(sizeR, sizeC, 0, littleRecSize, littleRecSize);
window.DispRectangle2(midR, midC, 0, littleRecSize, littleRecSize);
window.DispRectangle2(startR, startC, startPhi, littleRecSize, littleRecSize);
window.DispRectangle2(extentR, extentC, 0, littleRecSize, littleRecSize);
window.SetDraw("margin");
}
public void ShowShapeModel(HWndCtrl viewCtrl)
{
if (modelRegion == null || !modelRegion.IsInitialized())
{
return;
}
if (ModelXLDCont == null || !ModelXLDCont.IsInitialized())
{
return;
}
viewCtrl.ChangeGraphicSettings(Mode.DRAWMODE, "margin");
if (modelRegion != null && modelRegion.IsInitialized())
{
viewCtrl.ChangeGraphicSettings(Mode.COLOR, "blue");
viewCtrl.ChangeGraphicSettings(Mode.LINEWIDTH, 2);
viewCtrl.AddIconicVar(modelRegion);
}
if (modelXLDContAffine == null)
{
modelXLDContAffine = new HXLDCont();
}
if (modelXLDContAffine != null && modelXLDContAffine.IsInitialized())
{
modelXLDContAffine.Dispose();
}
if (refCoordinates == null || refCoordinates.Length != 3)
{
return;
}
HHomMat2D homMat2D = new HHomMat2D();
homMat2D.VectorAngleToRigid(0.0, 0.0, 0.0, refCoordinates[0].D, refCoordinates[1].D, refCoordinates[2].D);
modelXLDContAffine = homMat2D.AffineTransContourXld(ModelXLDCont);
if (modelXLDContAffine != null && modelXLDContAffine.IsInitialized())
{
viewCtrl.ChangeGraphicSettings(Mode.COLOR, "red");
viewCtrl.ChangeGraphicSettings(Mode.LINEWIDTH, 1);
viewCtrl.AddIconicVar(modelXLDContAffine);
}
}
/// <summary>Paints the ROI into the supplied window</summary>
/// <param name="window">HALCON window</param>
public override void Draw(HalconDotNet.HWindow window)
{
if (contour == null)
{
contour = new HXLDCont();
}
contour.Dispose();
contour.GenCircleContourXld(midR, midC, radius, startPhi,
(startPhi + extentPhi), circDir, 1.0);
window.DispObj(contour);
int width = GetHandleWidth();
window.DispRectangle2(sizeR, sizeC, 0, width, width);
window.DispRectangle2(midR, midC, 0, width, width);
window.DispObj(startRect2XLD);
window.DispObj(arrowHandleXLD);
}
private void MouseTestPoint(object sender, MouseEventArgs e)
{
int state;
try
{
mView.viewPort.HalconWindow.GetMpositionSubPix(out row, out col, out state);
txt_Row.Text = string.Format("{0:F3}", row);
txt_Col.Text = string.Format("{0:F3}", col);
if (modelPointXld == null)
{
modelPointXld = new HXLDCont();
}
if (modelPointXld != null && modelPointXld.IsInitialized())
{
modelPointXld.Dispose();
}
modelPointXld.GenCrossContourXld(row, col, 30, 0);
mView.ClearList();
mView.SetDispLevel(ShowMode.ExcludeROI);
mView.ChangeGraphicSettings(Mode.LINESTYLE, new HTuple());
mView.AddIconicVar(tool.ModelImage);
if (modelPointXld != null)
{
mView.ChangeGraphicSettings(Mode.COLOR, "red");
mView.ChangeGraphicSettings(Mode.LINEWIDTH, 2);
mView.AddIconicVar(modelPointXld);
}
HTuple x_temp, y_temp;
HOperatorSet.ImagePointsToWorldPlane(tool.cameraParam, tool.worldPose, row, col, 1, out x_temp, out y_temp);
mView.AddText("X:=" + (1000 * x_temp.D).ToString("F2") + ";" + "Y:= " + (1000 * y_temp.D).ToString("F2"), (int)(row + 20), (int)col, 20, "green");
txt_Verify_X.Text = (1000 * x_temp.D).ToString("F2");
txt_Verify_Y.Text = (1000 * y_temp.D).ToString("F2");
mView.Repaint();
}
catch (HalconException)
{
return;
}
}
/// <summary>
/// 更新起始点的矩形框
/// </summary>
private void updateStartRect2XLDHandle()
{
if (startRect2XLD == null)
{
startRect2XLD = new HXLDCont();
}
startRect2XLD.Dispose();
startRect2XLD.GenEmptyObj();
int width = GetHandleWidth();
startRect2XLD.GenRectangle2ContourXld(startR, startC, startPhi, width, width / 5);
}
/// <summary>
/// Auxiliary method to display an arrow at the extent arc position
/// </summary>
private void updateArrowHandle()
{
double row1, col1, row2, col2;
double rowP1, colP1, rowP2, colP2;
double length, dr, dc, halfHW, sign, angleRad;
double headLength = 15;
double headWidth = 15;
try
{
arrowHandleXLD.Dispose();
arrowHandleXLD.GenEmptyObj();
row2 = extentR;
col2 = extentC;
angleRad = (_startPhi + _extentPhi) + Math.PI * 0.5;
sign = (_pointOrder == "negative") ? -1.0 : 1.0;
row1 = row2 + sign * Math.Sin(angleRad) * 20;
col1 = col2 - sign * Math.Cos(angleRad) * 20;
length = HMisc.DistancePp(row1, col1, row2, col2);
if (length == 0)
{
length = -1;
}
dr = (row2 - row1) / length;
dc = (col2 - col1) / length;
halfHW = headWidth / 2.0;
rowP1 = row1 + (length - headLength) * dr + halfHW * dc;
rowP2 = row1 + (length - headLength) * dr - halfHW * dc;
colP1 = col1 + (length - headLength) * dc - halfHW * dr;
colP2 = col1 + (length - headLength) * dc + halfHW * dr;
if (length == -1)
{
arrowHandleXLD.GenContourPolygonXld(row1, col1);
}
else
{
arrowHandleXLD.GenContourPolygonXld(new HTuple(new double[] { row1, row2, rowP1, row2, rowP2, row2 }),
new HTuple(new double[] { col1, col2, colP1, col2, colP2, col2 }));
}
}
catch (Exception ex)
{
Hanbo.Log.LogManager.Error(ex);
}
}
/// <summary>
/// Auxiliary method to display an arrow at the extent arc position
/// </summary>
private void updateArrowHandle()
{
double row1, col1, row2, col2;
double rowP1, colP1, rowP2, colP2;
double length, dr, dc, halfHW, sign, angleRad;
int width = GetHandleWidth();
double headLength = width;
double headWidth = width;
if (arrowHandleXLD == null)
{
arrowHandleXLD = new HXLDCont();
}
arrowHandleXLD.Dispose();
arrowHandleXLD.GenEmptyObj();
row2 = extentR;
col2 = extentC;
angleRad = (startPhi + extentPhi) + Math.PI * 0.5;
sign = (circDir == "negative") ? -1.0 : 1.0;
row1 = row2 + sign * Math.Sin(angleRad) * 20;
col1 = col2 - sign * Math.Cos(angleRad) * 20;
length = HMisc.DistancePp(row1, col1, row2, col2);
if (length == 0)
{
length = -1;
}
dr = (row2 - row1) / length;
dc = (col2 - col1) / length;
halfHW = headWidth / 2.0;
rowP1 = row1 + (length - headLength) * dr + halfHW * dc;
rowP2 = row1 + (length - headLength) * dr - halfHW * dc;
colP1 = col1 + (length - headLength) * dc - halfHW * dr;
colP2 = col1 + (length - headLength) * dc + halfHW * dr;
if (length == -1)
{
arrowHandleXLD.GenContourPolygonXld(row1, col1);
}
else
{
arrowHandleXLD.GenContourPolygonXld(new HTuple(new double[] { row1, row2, rowP1, row2, rowP2, row2 }),
new HTuple(new double[] { col1, col2, colP1, col2, colP2, col2 }));
}
}
/// <summary>
/// Creates an iconic object depicting the
/// measuring field.
/// </summary>
public void UpdateMeasureRegion()
{
mMeasureRegion.Dispose();
mMeasureRegion.GenEmptyObj();
switch (mROIType)
{
case ROI.ROI_TYPE_CIRCLEARC:
double sPhi, extent, innerRad, outerRad;
HTuple innerR, outerR, innerC, outerC;
HXLDCont outCont, innerCont, contour;
outCont = new HXLDCont();
innerCont = new HXLDCont();
sPhi = mMeasROI[2].D;
extent = mMeasROI[3].D;
outerRad = mMeasROI[4].D;
innerRad = mMeasROI[5].D;
innerCont.GenCircleContourXld(mMeasROI[0].D, mMeasROI[1].D, innerRad, sPhi, (sPhi + extent), (extent > 0) ? "positive" : "negative", 1.0);
outCont.GenCircleContourXld(mMeasROI[0].D, mMeasROI[1].D, outerRad, (sPhi + extent), sPhi, (extent > 0) ? "negative" : "positive", 1.0);
innerCont.GetContourXld(out innerR, out innerC);
outCont.GetContourXld(out outerR, out outerC);
innerR = innerR.TupleConcat(outerR);
innerC = innerC.TupleConcat(outerC);
contour = new HXLDCont(innerR, innerC);
contour = contour.CloseContoursXld();
mMeasureRegion = contour.GenRegionContourXld("margin");
contour.Dispose();
innerCont.Dispose();
outCont.Dispose();
break;
case ROI.ROI_TYPE_CIRCLE:
//
break;
default:
mMeasureRegion.GenRectangle2(mMeasROI[0].D, mMeasROI[1].D,
mMeasROI[2].D, mMeasROI[3].D,
mMeasROI[4].D);
break;
}
}
/// <summary>
/// A helper method to convert an HObject containing an XLD contour to an HXLDCont.
/// </summary>
/// <param name="from">From.</param>
/// <returns>HXLDCont.</returns>
/// <exception cref="NotImplementedException"></exception>
public static HXLDCont ToHXLDCont(this HObject from)
{
HXLDCont newXldCont = new HXLDCont();
if (from.IsValid())
{
if (from.GetObjClass().S == "xld_cont")
{
newXldCont.Dispose();
newXldCont = new HXLDCont(from);
}
}
return(newXldCont);
}
/// <summary>
/// Gets the detected contour.
/// </summary>
/// <returns>Detected contour</returns>
public HXLDCont getDetectionResults()
{
HXLDCont rContours = new HXLDCont();
hmat.HomMat2dIdentity();
if (mContResults != null)
{
mContResults.Dispose();
}
mContResults.GenEmptyObj();
for (int i = 0; i < count; i++)
{
if (mImageScale < 0.1 || mImageScale > 2)
{
mImageScale = 1.0;
}
hmat.VectorAngleToRigid(0, 0, 0, mRow[i].D * mImageScale, mCol[i].D * mImageScale, mAngle[i].D);
//2020.11.7 gengxmÐÞ¸Ä £¬ÂÖÀª·Å´óÈý±¶
hmat = hmat.HomMat2dScale(1.0000 / mImageScale, 1.0000 / mImageScale, 0, 0);
rContours = hmat.AffineTransContourXld(mContour);
mContResults = mContResults.ConcatObj(rContours);
}
if (rContours != null)
{
rContours.Dispose();
}
if (true)
{
HTuple convexity;
HTuple col1, col2, row1, row2;
HOperatorSet.SmallestRectangle1Xld(mContResults, out row1, out col1, out row2, out col2);
HOperatorSet.ConvexityXld(mContResults, out convexity);
// wid = col2 - col1;
//hei = row2 - row1;
}
return(mContResults);
}
/// <summary>
/// 辅助的箭头显示方法
/// </summary>
private void updateArrowHandle()
{
double length, dr, dc, halfHW;
double rrow1, ccol1, rowP1, colP1, rowP2, colP2;
int width = GetHandleWidth();
double headLength = width;
double headWidth = width;
if (arrowHandleXLD == null)
{
arrowHandleXLD = new HXLDCont();
}
arrowHandleXLD.Dispose();
arrowHandleXLD.GenEmptyObj();
//箭头起始点为直线长度的0.8位置
rrow1 = startRow + (endRow - startRow) * 0.8;
ccol1 = startCol + (endCol - startCol) * 0.8;
//测量箭头起始点到直线终点的距离
length = HMisc.DistancePp(rrow1, ccol1, endRow, endCol);
//如果距离为0说明直线长度为0
if (length == 0)
{
length = -1;
}
dr = (endRow - rrow1) / length;
dc = (endCol - ccol1) / length;
halfHW = headWidth / 2.0;
rowP1 = rrow1 + (length - headLength) * dr + halfHW * dc;
rowP2 = rrow1 + (length - headLength) * dr - halfHW * dc;
colP1 = ccol1 + (length - headLength) * dc - halfHW * dr;
colP2 = ccol1 + (length - headLength) * dc + halfHW * dr;
if (length == -1)
{
arrowHandleXLD.GenContourPolygonXld(rrow1, ccol1);
}
else
{
arrowHandleXLD.GenContourPolygonXld(new HTuple(new double[] { rrow1, endRow, rowP1, endRow, rowP2, endRow }),
new HTuple(new double[] { ccol1, endCol, colP1, endCol, colP2, endCol }));
}
}
/// <summary>
/// Returns the convex hull from a collection of XLD contours.
/// </summary>
/// <param name="from">The collection of XLD contours to be processed.</param>
/// <returns>An XLD contour that is the convex hull.</returns>
/// <example> HXLDCont convexHullXld = MyXldContours.ConvexHull (); .</example>
public static HXLDCont ConvexHull(this HXLDCont from)
{
HXLDCont tempContour = new HXLDCont(), convexHull = new HXLDCont();
HTuple cumulativeRows = new HTuple(), cumulativeColumns = new HTuple();
try
{
if (@from != null && @from.IsValid())
{
int count = @from.CountObj();
if (count > 1)
{
HTuple rows, columns;
for (int i = 1; i <= count; i++)
{
@from[i].GetContourXld(out rows, out columns);
cumulativeRows = cumulativeRows.TupleConcat(rows);
cumulativeColumns = cumulativeColumns.TupleConcat(columns);
}
tempContour.GenContourPolygonXld(
cumulativeRows,
cumulativeColumns);
convexHull = tempContour.ShapeTransXld("convex");
}
else
{
convexHull = @from.ShapeTransXld("convex");
}
}
if (convexHull.IsInitialized())
{
return(convexHull.CopyObj(1, -1));
}
else
{
return(new HXLDCont());
}
}
finally
{
tempContour.Dispose();
convexHull.Dispose();
}
}
/// <summary>
/// Auxiliary method
/// </summary>
private void UpdateArrowHandle()
{
double length, dr, dc, halfHW;
double rrow1, ccol1, rowP1, colP1, rowP2, colP2;
//double headLength = 15;
//double headWidth = 15;
double headLength = RoiDrawConfig.Height / 10;
double headWidth = RoiDrawConfig.Height / 10;
arrowHandleXLD.Dispose();
arrowHandleXLD.GenEmptyObj();
rrow1 = row1 + (row2 - row1) * 0.8;
ccol1 = col1 + (col2 - col1) * 0.8;
length = HMisc.DistancePp(rrow1, ccol1, row2, col2);
if (length == 0)
{
length = -1;
}
dr = (row2 - rrow1) / length;
dc = (col2 - ccol1) / length;
halfHW = headWidth / 2.0;
rowP1 = rrow1 + (length - headLength) * dr + halfHW * dc;
rowP2 = rrow1 + (length - headLength) * dr - halfHW * dc;
colP1 = ccol1 + (length - headLength) * dc - halfHW * dr;
colP2 = ccol1 + (length - headLength) * dc + halfHW * dr;
if (length == -1)
{
arrowHandleXLD.GenContourPolygonXld(rrow1, ccol1);
}
else
{
arrowHandleXLD.GenContourPolygonXld(new HTuple(new double[] { rrow1, row2, rowP1, row2, rowP2, row2 }),
new HTuple(new double[] { ccol1, col2, colP1, col2, colP2, col2 }));
}
}
/// <summary> Auxiliary method </summary>
private void updateArrowHandle()
{
double length, dr, dc, halfHW;
double rrow1, ccol1, rowP1, colP1, rowP2, colP2;
double headLength = 15;
double headWidth = 15;
_AuxLineHandleXLD.Dispose();
_AuxLineHandleXLD.GenEmptyObj();
rrow1 = _StartRow + (_EndRow - _StartRow) * 0.8;
ccol1 = _StartColumn + (_EndCol - _StartColumn) * 0.8;
length = HMisc.DistancePp(rrow1, ccol1, _EndRow, _EndCol);
if (length == 0)
{
length = -1;
}
dr = (_EndRow - rrow1) / length;
dc = (_EndCol - ccol1) / length;
halfHW = headWidth / 2.0;
rowP1 = rrow1 + (length - headLength) * dr + halfHW * dc;
rowP2 = rrow1 + (length - headLength) * dr - halfHW * dc;
colP1 = ccol1 + (length - headLength) * dc - halfHW * dr;
colP2 = ccol1 + (length - headLength) * dc + halfHW * dr;
if (length == -1)
{
_AuxLineHandleXLD.GenContourPolygonXld(rrow1, ccol1);
}
else
{
_AuxLineHandleXLD.GenContourPolygonXld(new HTuple(new double[] { rrow1, _EndRow, rowP1, _EndRow, rowP2, _EndRow }),
new HTuple(new double[] { ccol1, _EndCol, colP1, _EndCol, colP2, _EndCol }));
}
}
private void drawOuterArc(HalconDotNet.HWindow window)
{
double sPhi, extent, innerRad, outerRad;
HTuple innerR, outerR, innerC, outerC;
HXLDCont outCont, innerCont, contour;
outCont = new HXLDCont();
innerCont = new HXLDCont();
var roiModel = this.getModelData();
var mMeasROI = genArcRegionModel(roiModel);
sPhi = mMeasROI[2];
extent = mMeasROI[3];
outerRad = mMeasROI[4];
innerRad = mMeasROI[5];
//畫內圓
innerCont.GenCircleContourXld(mMeasROI[0], mMeasROI[1], innerRad, sPhi, (sPhi + extent), (extent > 0) ? "positive" : "negative", 1.0);
//畫外圓
outCont.GenCircleContourXld(mMeasROI[0], mMeasROI[1], outerRad, (sPhi + extent), sPhi, (extent > 0) ? "negative" : "positive", 1.0);
innerCont.GetContourXld(out innerR, out innerC);
outCont.GetContourXld(out outerR, out outerC);
innerR = innerR.TupleConcat(outerR);
innerC = innerC.TupleConcat(outerC);
contour = new HXLDCont(innerR, innerC);
contour = contour.CloseContoursXld();
_ArcRegion.Dispose();
_ArcRegion = contour.GenRegionContourXld("margin");
window.DispObj(_ArcRegion);
contour.Dispose();
innerCont.Dispose();
outCont.Dispose();
}
private void DisplayModelControur()
{
hWndCtrller.AddIconicVar(Model.ModelImg);
hWndCtrller.ChangeGraphicSettings("Color", "blue");
hWndCtrller.AddIconicVar(Model.SearchRegion);
hWndCtrller.ChangeGraphicSettings("Color", "green");
hWndCtrller.ChangeGraphicSettings("DrawMode", "margin");
HHomMat2D mat2D = new HHomMat2D();
mat2D.VectorAngleToRigid(0.0, 0.0, 0.0, Model.ModelImgRow, Model.ModelImgCol, Model.ModelimgAng);
HXLDCont cont = Model.GetModelCont();
if (cont != null)
{
double row, col;
Model.shapeModel.GetShapeModelOrigin(out row, out col);
mat2D = mat2D.HomMat2dTranslateLocal(row, col);
hWndCtrller.AddIconicVar(cont.AffineTransContourXld(mat2D));
cont.Dispose();
}
}
/// <summary>
/// 圓的顯示模式，文字顯示在圓心
/// </summary>
/// <returns></returns>
public override ResultDisplayViewModel CreateDisplayViewModel()
{
var dispXLD = new HXLDCont();
dispXLD.Dispose();
dispXLD.GenEmptyObj();
var row = 0.0;
var col = 0.0;
for (int i = 0; i < this.Row.Length; i++)
{
var radius = this.Radius[i].D;
dispXLD.GenCircleContourXld(this.Row[i].D, this.Col[i].D, radius, 0.0, 6.28318, "positive", 1.0);
row = this.Row[0].D;
col = this.Col[0].D;
}
return(new ResultDisplayViewModel()
{
ImageXLD = dispXLD,
PositionX = col,
PositionY = row,
});
}
private void btnLine_Click(object sender, EventArgs e)
{
if (this.HwControl != null)
{
double row1, column1, row2, column2;
this.HwControl.HalconWindow.SetColor(this.LineColor);
this.HwControl.Focus();
this.HwControl.HalconWindow.DrawLine(out row1, out column1, out row2, out column2);
this.linedata["Row1"] = row1;
this.linedata["Column1"] = column1;
this.linedata["Row2"] = row2;
this.linedata["Column2"] = column2;
if (this.DispLine)
{
HXLDCont hLine = GetLine(this.linedata);
this.HwControl.HalconWindow.SetColor(this.LineColor);
this.HwControl.HalconWindow.DispObj(hLine);
hLine.Dispose();
}
}
OnClick(e);
}
/// <summary>
/// Creates an iconic object depicting the
/// measuring field.
/// </summary>
public void UpdateMeasureRegion()
{
mMeasureRegion.Dispose();
mMeasureRegion.GenEmptyObj();
if (mROIType == ROI.ROI_TYPE_CIRCLEARC)
{
double sPhi, extent, innerRad, outerRad;
HTuple innerR, outerR, innerC, outerC;
HXLDCont outCont, innerCont, contour;
outCont = new HXLDCont();
innerCont = new HXLDCont();
sPhi = mMeasROI[2].D;
extent = mMeasROI[3].D;
outerRad = mMeasROI[4].D;
innerRad = mMeasROI[5].D;
innerCont.GenCircleContourXld(mMeasROI[0].D, mMeasROI[1].D, innerRad, sPhi, (sPhi + extent), (extent > 0) ? "positive" : "negative", 1.0);
outCont.GenCircleContourXld(mMeasROI[0].D, mMeasROI[1].D, outerRad, (sPhi + extent), sPhi, (extent > 0) ? "negative" : "positive", 1.0);
innerCont.GetContourXld(out innerR, out innerC);
outCont.GetContourXld(out outerR, out outerC);
innerR = innerR.TupleConcat(outerR);
innerC = innerC.TupleConcat(outerC);
contour = new HXLDCont(innerR, innerC);
contour = contour.CloseContoursXld();
mMeasureRegion = contour.GenRegionContourXld("margin");
contour.Dispose();
innerCont.Dispose();
outCont.Dispose();
}
else
{
mMeasureRegion.GenRectangle2(mMeasROI[0].D, mMeasROI[1].D,
mMeasROI[2].D, mMeasROI[3].D,
mMeasROI[4].D);
}
}
/// <summary>
/// If calibration data is available and valid, then transform the
/// distance between measure result edges into world coordinates,
/// else leave them the same.
/// </summary>
public HTuple Distance(HTuple row1, HTuple col1, HTuple row2, HTuple col2, int shift)
{
HTuple rows, cols, rowRect, colRect;
HTuple distance = new HTuple();
HXLDCont contour;
if (shift == 0)
{
if (mROIType == ROI.ROI_TYPE_CIRCLEARC)
{
double cRow, cCol, radius, extent, phi1, phi2, phi, res, length, tmp;
cRow = mROICoord[0].D;
cCol = mROICoord[1].D;
radius = mROICoord[2].D;
extent = mROICoord[4].D;
HOperatorSet.TupleGenConst(new HTuple(row1.Length), 0.0, out distance);
for (int i=0; i < distance.Length; i++)
{
phi1 = HMisc.AngleLx(cRow, cCol, row1[i].D, col1[i].D);
phi2 = HMisc.AngleLx(cRow, cCol, row2[i].D, col2[i].D);
if (extent < 0)
{
tmp = phi1;
phi1 = phi2;
phi2 = tmp;
}
phi = phi2 - phi1;
if (phi < 0)
phi += 2 * Math.PI;
res = 0.05 * 24.0 / (radius * phi);
contour = new HXLDCont();
contour.GenEllipseContourXld(cRow, cCol, 0, radius, radius, phi1, phi2, "positive", res);
contour.GetContourXld(out rows, out cols);
Rectify(rows, cols, out rowRect, out colRect);
contour.Dispose();
contour.GenContourPolygonXld(rowRect, colRect);
length = contour.LengthXld();
distance[i].D = length;
contour.Dispose();
}
}
else if (mROIType == ROI.ROI_TYPE_LINE)
{
HTuple rRect1, cRect1, rRect2, cRect2;
Rectify(row1, col1, out rRect1, out cRect1);
Rectify(row2, col2, out rRect2, out cRect2);
distance = HMisc.DistancePp(rRect1, cRect1, rRect2, cRect2);
}
return distance;
}
else
{
HTuple rClip1, cClip1, rShift2, cShift2;
rClip1 = row1.TupleSelectRange(new HTuple(0), new HTuple(row1.Length - shift - 1));
cClip1 = col1.TupleSelectRange(new HTuple(0), new HTuple(col1.Length - shift - 1));
rShift2 = row2.TupleSelectRange(new HTuple(shift), new HTuple(row2.Length - 1));
cShift2 = col2.TupleSelectRange(new HTuple(shift), new HTuple(col2.Length - 1));
return this.Distance(rClip1, cClip1, rShift2, cShift2, 0);
}
}
/// <summary>
/// If calibration data is available and valid, then transform the
/// distance between measure result edges into world coordinates,
/// else leave them the same.
/// </summary>
public HTuple Distance(HTuple row1, HTuple col1, HTuple row2, HTuple col2, int shift)
{
HTuple rows, cols, rowRect, colRect;
HTuple distance = new HTuple();
HXLDCont contour;
if (shift == 0)
{
if (mROIType == ROI.ROI_TYPE_CIRCLEARC)
{
double cRow, cCol, radius, extent, phi1, phi2, phi, res, length, tmp;
cRow = mROICoord[0].D;
cCol = mROICoord[1].D;
radius = mROICoord[2].D;
extent = mROICoord[4].D;
HOperatorSet.TupleGenConst(new HTuple(row1.Length), 0.0, out distance);
for (int i = 0; i < distance.Length; i++)
{
phi1 = HMisc.AngleLx(cRow, cCol, row1[i].D, col1[i].D);
phi2 = HMisc.AngleLx(cRow, cCol, row2[i].D, col2[i].D);
if (extent < 0)
{
tmp = phi1;
phi1 = phi2;
phi2 = tmp;
}
phi = phi2 - phi1;
if (phi < 0)
{
phi += 2 * Math.PI;
}
res = 0.05 * 24.0 / (radius * phi);
contour = new HXLDCont();
contour.GenEllipseContourXld(cRow, cCol, 0, radius, radius, phi1, phi2, "positive", res);
contour.GetContourXld(out rows, out cols);
Rectify(rows, cols, out rowRect, out colRect);
contour.Dispose();
contour.GenContourPolygonXld(rowRect, colRect);
length = contour.LengthXld();
distance[i].D = length;
contour.Dispose();
}
}
else if (mROIType == ROI.ROI_TYPE_LINE)
{
HTuple rRect1, cRect1, rRect2, cRect2;
Rectify(row1, col1, out rRect1, out cRect1);
Rectify(row2, col2, out rRect2, out cRect2);
distance = HMisc.DistancePp(rRect1, cRect1, rRect2, cRect2);
}
return(distance);
}
else
{
HTuple rClip1, cClip1, rShift2, cShift2;
rClip1 = row1.TupleSelectRange(new HTuple(0), new HTuple(row1.Length - shift - 1));
cClip1 = col1.TupleSelectRange(new HTuple(0), new HTuple(col1.Length - shift - 1));
rShift2 = row2.TupleSelectRange(new HTuple(shift), new HTuple(row2.Length - 1));
cShift2 = col2.TupleSelectRange(new HTuple(shift), new HTuple(col2.Length - 1));
return(this.Distance(rClip1, cClip1, rShift2, cShift2, 0));
}
}
/// <summary>
/// 圓的顯示模式，文字顯示在圓心
/// </summary>
/// <returns></returns>
public override ResultDisplayViewModel CreateDisplayViewModel()
{
var dispXLD = new HXLDCont();
dispXLD.Dispose();
dispXLD.GenEmptyObj();
var row = 0.0;
var col = 0.0;
for (int i = 0; i < this.Row.Length; i++)
{
var radius = this.Radius[i].D;
dispXLD.GenCircleContourXld(this.Row[i].D, this.Col[i].D, radius, 0.0, 6.28318, "positive", 1.0);
row = this.Row[0].D;
col = this.Col[0].D;
}
return new ResultDisplayViewModel()
{
ImageXLD = dispXLD,
PositionX = col,
PositionY = row,
};
}
public bool FindDataCode(HImage img, HRegion region, bool train = false)
{
if (!region.IsInitialized())
{
region = img.GetDomain();
}
if (!train)
{
Display(0, region);
}
HImage reduceImg = img.ReduceDomain(region);
HImage searchImg = reduceImg.CropDomain();
reduceImg.Dispose();
int width, height;
searchImg.GetImageSize(out width, out height);
HImage zoomImg = searchImg.ZoomImageFactor(DateCodeZoomImg, DateCodeZoomImg, "constant");
DataCodeContour.Dispose();
searchImg.Dispose();
HTuple ResultHandles, DecodedDataStrings;
if (train)
{
DataCodeContour = CodeReaderHand.FindDataCode2d(zoomImg, "train", "all", out ResultHandles, out DecodedDataStrings);
}
else
{
DataCodeContour = CodeReaderHand.FindDataCode2d(zoomImg, "stop_after_result_num", 1, out ResultHandles, out DecodedDataStrings);
}
if (DecodedDataStrings.Length > 0)
{
DataCodeString = DecodedDataStrings[0].S;
HHomMat2D mat = new HHomMat2D();
HHomMat2D scalMat = mat.HomMat2dScale(1 / DateCodeZoomImg, 1 / DateCodeZoomImg, 0.0, 0.0);
double row, col;
region.AreaCenter(out row, out col);
HHomMat2D tranMat = scalMat.HomMat2dTranslate(row - height / 2.0, col - width / 2.0);
HXLDCont tranDataCodeContour = tranMat.AffineTransContourXld(DataCodeContour);
DataCodeContour.Dispose();
DataCodeContour = tranDataCodeContour;
if (!train)
{
Display(2);
Display(3);
}
}
else
{
if (UseBrighten)
{
HImage brightenImg = zoomImg.ScaleImage(UseBrightenValue, 0.0);
DataCodeContour = CodeReaderHand.FindDataCode2d(brightenImg, "stop_after_result_num", 1, out ResultHandles, out DecodedDataStrings);
if (DecodedDataStrings.Length > 0)
{
DataCodeString = DecodedDataStrings[0].S;
HHomMat2D mat = new HHomMat2D();
HHomMat2D scalMat = mat.HomMat2dScale(1 / DateCodeZoomImg, 1 / DateCodeZoomImg, 0.0, 0.0);
double row, col;
region.AreaCenter(out row, out col);
HHomMat2D tranMat = scalMat.HomMat2dTranslate(row - height / 2.0, col - width / 2.0);
HXLDCont tranDataCodeContour = tranMat.AffineTransContourXld(DataCodeContour);
DataCodeContour.Dispose();
DataCodeContour = tranDataCodeContour;
if (!train)
{
Display(2);
Display(3);
}
return(true);
}
}
DataCodeString = string.Empty;
if (!train)
{
Display(4);
}
return(false);
}
return(true);
}
/// <summary>Paints the ROI into the supplied window</summary>
/// <param name="window">HALCON window</param>
public override void draw(HalconDotNet.HWindow window, int imageWidth, int imageHeight)
{
contour.Dispose();
contour.GenCircleContourXld(midR, midC, radius, startPhi,
(startPhi + extentPhi), circDir, 1.0);
double littleRecSize = 0;
if (imageHeight < 300)
{
littleRecSize = 1;
}
else if (imageHeight < 600)
{
littleRecSize = 2;
}
else if (imageHeight < 900)
{
littleRecSize = 3;
}
else if (imageHeight < 1200)
{
littleRecSize = 4;
}
else if (imageHeight < 1500)
{
littleRecSize = 5;
}
else if (imageHeight < 1800)
{
littleRecSize = 6;
}
else if (imageHeight < 2100)
{
littleRecSize = 7;
}
else if (imageHeight < 2400)
{
littleRecSize = 8;
}
else if (imageHeight < 2700)
{
littleRecSize = 9;
}
else if (imageHeight < 3000)
{
littleRecSize = 10;
}
else if (imageHeight < 3300)
{
littleRecSize = 11;
}
else if (imageHeight < 3600)
{
littleRecSize = 12;
}
else if (imageHeight < 3900)
{
littleRecSize = 13;
}
else if (imageHeight < 4200)
{
littleRecSize = 14;
}
else if (imageHeight < 4500)
{
littleRecSize = 15;
}
else if (imageHeight < 4800)
{
littleRecSize = 16;
}
else if (imageHeight < 5100)
{
littleRecSize = 17;
}
else
{
littleRecSize = 18;
}
window.DispObj(contour);
window.DispRectangle2(sizeR, sizeC, 0, littleRecSize, littleRecSize);
window.DispRectangle2(midR, midC, 0, littleRecSize, littleRecSize);
window.DispRectangle2(startR, startC, startPhi, littleRecSize, littleRecSize);
window.DispRectangle2(extentR, extentC, 0, littleRecSize, littleRecSize);
window.DispLine(startR, startC, midR, midC);
window.DispLine(extentR, extentC, midR, midC);
}
public static ResultDisplayViewModel CreateDisplayViewModel(GeoDataGridViewModel model, bool textOnly, int circleDistanceSetting)
{
ResultDisplayViewModel viewModel = null;
try
{
//init
var dispXLD = new HXLDCont();
dispXLD.Dispose();
dispXLD.GenEmptyObj();
double posX = model.Col1, posY = model.Row1;
string dispName = model.Name;
switch (model.GeoType)
{
case ViewROI.MeasureType.Angle:
break;
case ViewROI.MeasureType.Circle:
case ViewROI.MeasureType.PointCircle:
var radius = model.Distance / circleDistanceSetting;
dispXLD.GenCircleContourXld(model.Row1, model.Col1, radius, 0.0, 6.28318, "positive", 1.0);
viewModel = new ResultDisplayViewModel()
{
DisplayText = dispName,
PositionX = posX,
PositionY = posY,
};
break;
case ViewROI.MeasureType.CrossPoint:
case ViewROI.MeasureType.Point:
dispXLD.GenCrossContourXld(model.Row1, model.Col1, 12, 0.785398);
viewModel = new ResultDisplayViewModel()
{
DisplayText = dispName,
PositionX = posX,
PositionY = posY,
};
break;
case ViewROI.MeasureType.Distance:
case ViewROI.MeasureType.DistanceX:
case ViewROI.MeasureType.DistanceY:
case ViewROI.MeasureType.FitLine:
case ViewROI.MeasureType.Line:
case ViewROI.MeasureType.SymmetryLine:
var arrowXLD = new HXLDCont();
//dispXLD.GenContourPolygonXld(new double[] { model.Row1, model.Row2 }, new double[] { model.Col1, model.Col2 });
posX = (model.Col1 + model.Col2) / 2.0;
posY = (model.Row1 + model.Row2) / 2.0;
viewModel = new ResultDisplayViewModel()
{
DisplayText = dispName,
PositionX = posX,
PositionY = posY,
FirstArrowX = model.Col1,
FirstArrowY = model.Row1,
SecArrowX = model.Col2,
SecArrowY = model.Row2,
};
break;
}
//
if (!textOnly && viewModel != null)
viewModel.ImageXLD = dispXLD;
}
catch (Exception ex)
{
Hanbo.Log.LogManager.Error(ex);
}
return viewModel;
}
private void drawOuterArc(HalconDotNet.HWindow window)
{
double sPhi, extent, innerRad, outerRad;
HTuple innerR, outerR, innerC, outerC;
HXLDCont outCont, innerCont, contour;
outCont = new HXLDCont();
innerCont = new HXLDCont();
var roiModel = this.getModelData();
var mMeasROI = genArcRegionModel(roiModel);
sPhi = mMeasROI[2];
extent = mMeasROI[3];
outerRad = mMeasROI[4];
innerRad = mMeasROI[5];
//畫內圓
innerCont.GenCircleContourXld(mMeasROI[0], mMeasROI[1], innerRad, sPhi, (sPhi + extent), (extent > 0) ? "positive" : "negative", 1.0);
//畫外圓
outCont.GenCircleContourXld(mMeasROI[0], mMeasROI[1], outerRad, (sPhi + extent), sPhi, (extent > 0) ? "negative" : "positive", 1.0);
innerCont.GetContourXld(out innerR, out innerC);
outCont.GetContourXld(out outerR, out outerC);
innerR = innerR.TupleConcat(outerR);
innerC = innerC.TupleConcat(outerC);
contour = new HXLDCont(innerR, innerC);
contour = contour.CloseContoursXld();
_ArcRegion.Dispose();
_ArcRegion = contour.GenRegionContourXld("margin");
window.DispObj(_ArcRegion);
contour.Dispose();
innerCont.Dispose();
outCont.Dispose();
}
public static ResultDisplayViewModel CreateDisplayViewModel(GeoDataGridViewModel model, bool textOnly, int circleDistanceSetting)
{
ResultDisplayViewModel viewModel = null;
try
{
//init
var dispXLD = new HXLDCont();
dispXLD.Dispose();
dispXLD.GenEmptyObj();
double posX = model.Col1, posY = model.Row1;
string dispName = model.Name;
switch (model.GeoType)
{
case ViewROI.MeasureType.Angle:
break;
case ViewROI.MeasureType.Circle:
case ViewROI.MeasureType.PointCircle:
var radius = model.Distance / circleDistanceSetting;
dispXLD.GenCircleContourXld(model.Row1, model.Col1, radius, 0.0, 6.28318, "positive", 1.0);
viewModel = new ResultDisplayViewModel()
{
DisplayText = dispName,
PositionX = posX,
PositionY = posY,
};
break;
case ViewROI.MeasureType.CrossPoint:
case ViewROI.MeasureType.Point:
dispXLD.GenCrossContourXld(model.Row1, model.Col1, 12, 0.785398);
viewModel = new ResultDisplayViewModel()
{
DisplayText = dispName,
PositionX = posX,
PositionY = posY,
};
break;
case ViewROI.MeasureType.Distance:
case ViewROI.MeasureType.DistanceX:
case ViewROI.MeasureType.DistanceY:
case ViewROI.MeasureType.FitLine:
case ViewROI.MeasureType.Line:
case ViewROI.MeasureType.SymmetryLine:
var arrowXLD = new HXLDCont();
//dispXLD.GenContourPolygonXld(new double[] { model.Row1, model.Row2 }, new double[] { model.Col1, model.Col2 });
posX = (model.Col1 + model.Col2) / 2.0;
posY = (model.Row1 + model.Row2) / 2.0;
viewModel = new ResultDisplayViewModel()
{
DisplayText = dispName,
PositionX = posX,
PositionY = posY,
FirstArrowX = model.Col1,
FirstArrowY = model.Row1,
SecArrowX = model.Col2,
SecArrowY = model.Row2,
};
break;
}
//
if (!textOnly && viewModel != null)
{
viewModel.ImageXLD = dispXLD;
}
}
catch (Exception ex)
{
Hanbo.Log.LogManager.Error(ex);
}
return(viewModel);
}
