public override bool HLRun(Cognex.VisionPro.CogImage8Grey objCogImage, out HLDevice.Abstract.CVisionLibraryAbstract.CResultData objResultData, bool bUseCalibrationImage = false)
{
objResultData = new CResultData();
bool bReturn = false;
do
{
try {
m_objFixtureTool.InputImage = objCogImage;
// 여기에 패턴에서 찾은 좌표를 넣어야하는데..
m_objFixtureTool.Run();
CogImage8Grey objResultImage = ( CogImage8Grey )m_objFixtureTool.OutputImage;
if (null == objResultImage)
{
objResultData.objCogImage = objCogImage;
break;
}
else
{
objResultData.objCogImage = objResultImage;
}
} catch (System.Exception ex) {
Trace.Write(ex.Message + "-> " + ex.StackTrace);
break;
}
bReturn = true;
} while(false);
objResultData.bResult = bReturn;
m_objResultData = ( CResultData )objResultData.Clone();
return(bReturn);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//생성 :
//수정 :
//목적 : Run
//설명 :
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public override bool HLRun(Cognex.VisionPro.CogImage8Grey objCogImage, out HLDevice.Abstract.CVisionLibraryAbstract.CResultData objResultData, bool bUseCalibrationImage = true)
{
objResultData = new CResultData();
bool bReturn = false;
do
{
try {
m_objImageProcess.InputImage = objCogImage;
m_objImageProcess.Run();
CogImage8Grey objResultImage = ( CogImage8Grey )m_objImageProcess.OutputImage;
objResultData.objCogImage = objResultImage;
} catch (System.Exception ex) {
Trace.Write(ex.Message + "-> " + ex.StackTrace);
MakeErrorMessage("HLRun", 5505, ex.Message);
break;
}
bReturn = true;
} while(false);
objResultData.bitmapInputImage = null;//objCogImage.ToBitmap();
objResultData.bResult = bReturn;
objResultData.eLibrary = CResultData.enumLibrary.IMAGEPROCESS;
m_objResultData = ( CResultData )objResultData.Clone();
return(bReturn);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//생성 :
//수정 :
//목적 : Run
//설명 :
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public override bool HLRun(Cognex.VisionPro.CogImage8Grey objCogImage, out HLDevice.Abstract.CVisionLibraryAbstract.CResultData objResultData, bool bUseCalibrationImage = false)
{
objResultData = new CResultData();
bool bReturn = false;
do
{
try {
m_dScore = 0;
m_objFindLineTool.InputImage = objCogImage;
m_objFindLineTool.Run();
if (0 < m_objFindLineTool.Results.Count)
{
m_objResultLine = m_objFindLineTool.Results.GetLine();
m_objResultLineSegment = m_objFindLineTool.Results.GetLineSegment();
m_objGraphics = m_objFindLineTool.Results[0].CreateResultGraphics(CogFindLineResultGraphicConstants.All);
m_objResultLine.GetXYRotation(out m_dLinePositionX, out m_dLinePositionY, out m_dAngle);
m_dAngle = m_dAngle * (180 / Math.PI);
}
else
{
m_dLinePositionX = 0; m_dLinePositionY = 0; m_dAngle = 0;
MakeErrorMessage("HLSaveRecipe", 5305, "Line Fail");
break;
}
} catch (System.Exception ex) {
Trace.Write(ex.Message + "-> " + ex.StackTrace);
break;
}
m_dScore = 1;
bReturn = true;
} while(false);
// objResultData.objGraphics = new CogCompositeShape();
objResultData.dLinePositionX[0] = m_dLinePositionX; objResultData.dLinePositionY[0] = m_dLinePositionY; objResultData.dLineAngle[0] = m_dAngle; objResultData.dScore[0] = m_dScore;
// objResultData.objGraphics = m_objGraphics; objResultData.bitmapInputImage = objCogImage.ToBitmap();
objResultData.bResult = bReturn;
m_objResultData = ( CResultData )objResultData.Clone();
return(bReturn);
}
public override bool HLRun(Cognex.VisionPro.CogImage8Grey objCogImage, out HLDevice.Abstract.CVisionLibraryAbstract.CResultData objResultData, bool bUseCalibrationImage = false)
{
objResultData = new CResultData();
bool bReturn = false;
do
{
try {
} catch (System.Exception ex) {
Trace.Write(ex.Message + "-> " + ex.StackTrace);
break;
}
bReturn = true;
} while(false);
objResultData.bResult = bReturn;
m_objResultData = ( CResultData )objResultData.Clone();
return(bReturn);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//생성 :
//수정 :
//목적 : Run
//설명 :
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public override bool HLRun(Cognex.VisionPro.CogImage8Grey objCogImage, out HLDevice.Abstract.CVisionLibraryAbstract.CResultData objResultData, bool bUseCalibrationImage = false)
{
objResultData = new CResultData();
bool bReturn = false;
do
{
try {
if (null == objCogImage)
{
break;
}
if (false == m_objPMAlignTool.Pattern.Trained)
{
break;
}
objCogImage.SelectedSpaceName = "@";
m_objPMAlignTool.InputImage = objCogImage;
if (false == bUseCalibrationImage)
{
m_objPMAlignTool.InputImage.CoordinateSpaceTree.RootName = @"#@Checkerboard Calibration";
m_objPMAlignTool.InputImage.SelectedSpaceName = @"#@Checkerboard Calibration";
}
m_objPMAlignTool.Run();
if (0 < m_objPMAlignTool.Results.Count) //&& iScoreLimit < m_objPMAlignTool.Results[0].Score * 100 ) // 리미트 설정은 추후
{
for (int iLoopCount = 0; iLoopCount < m_objPMAlignTool.Results.Count; iLoopCount++)
{
if (( int )Abstract.CVisionLibraryAbstract.CResultData.enumInspectPosition.INSPECT_POSITION_FINAL <= iLoopCount)
{
break;
}
m_dPositionX[iLoopCount] = m_objPMAlignTool.Results[iLoopCount].GetPose().TranslationX; m_dPositionY[iLoopCount] = m_objPMAlignTool.Results[iLoopCount].GetPose().TranslationY; m_dAngle[iLoopCount] = m_objPMAlignTool.Results[iLoopCount].GetPose().Rotation *(180 / Math.PI); m_dScore[iLoopCount] = m_objPMAlignTool.Results[iLoopCount].Score;
//m_objGraphics[ iLoopCount ] = m_objPMAlignTool.Results[ iLoopCount ].CreateResultGraphics( CogPMAlignResultGraphicConstants.All );
}
CogImage8Grey FixtureImage = (CogImage8Grey)m_objPMAlignTool.InputImage;//.CopyBase( CogImageCopyModeConstants.CopyPixels ) as CogImage8Grey;
FixtureImage.SelectedSpaceName = "@";
m_objFixtureTool.InputImage = FixtureImage;
m_objFixtureTool.RunParams.UnfixturedFromFixturedTransform = m_objPMAlignTool.Results[0].GetPose();
m_objFixtureTool.Run();
objResultData.objCogImage = m_objFixtureTool.OutputImage as CogImage8Grey;
if (null == objResultData.objCogImage)
{
m_objFixtureTool.InputImage = FixtureImage;
m_objFixtureTool.RunParams.UnfixturedFromFixturedTransform = m_objPMAlignTool.Results[0].GetPose();
m_objFixtureTool.Run();
objResultData.objCogImage = m_objFixtureTool.OutputImage as CogImage8Grey;
}
}
else
{
for (int iLoopCount = 0; iLoopCount < ( int )Abstract.CVisionLibraryAbstract.CResultData.enumInspectPosition.INSPECT_POSITION_FINAL; iLoopCount++)
{
// m_objGraphics = null;
m_dPositionX[iLoopCount] = m_dPositionY[iLoopCount] = -1; m_dAngle[iLoopCount] = 0; m_dScore[iLoopCount] = 0;
}
objResultData.objCogImage = objCogImage;
MakeErrorMessage("HLRun", 5205, "Pattern Fail");
break;
}
} catch (System.Exception ex) {
Trace.Write(ex.Message + "-> " + ex.StackTrace);
break;
}
bReturn = true;
} while(false);
if (null != m_objPMAlignTool.Results)
{
for (int iLoopCount = 0; iLoopCount < m_objPMAlignTool.Results.Count; iLoopCount++)
{
if (false == bReturn)
{
}
else
{
if (( int )Abstract.CVisionLibraryAbstract.CResultData.enumInspectPosition.INSPECT_POSITION_FINAL <= iLoopCount)
{
break;
}
objResultData.objGraphics[iLoopCount] = new CogCompositeShape();
objResultData.objGraphics[iLoopCount] = m_objGraphics[iLoopCount];
objResultData.dPositionX[iLoopCount] = m_dPositionX[iLoopCount]; objResultData.dPositionY[iLoopCount] = m_dPositionY[iLoopCount]; objResultData.dPositionAngle[iLoopCount] = m_dAngle[iLoopCount]; objResultData.dScore[iLoopCount] = m_dScore[iLoopCount];
}
}
}
if (null != objCogImage)
{
objResultData.bitmapInputImage = null;//objCogImage.ToBitmap();
}
//m_objGraphics[ 0 ] = m_objPMAlignTool.CreateLastRunRecord();
objResultData.objGraphics[0] = m_objPMAlignTool.CreateLastRunRecord();
objResultData.bResult = bReturn; objResultData.eLibrary = CResultData.enumLibrary.PMALIGN;
m_objResultData = ( CResultData )objResultData.Clone();
return(bReturn);
}
public static unsafe System.Drawing.Bitmap BytesToBitmap(byte[] bytes, int width, int height)
{
try
{
Bitmap bitmap = new Bitmap(width, height, PixelFormat.Format8bppIndexed);
//获取图像的BitmapData对像
BitmapData bmpData = bitmap.LockBits(new Rectangle(0, 0, bitmap.Width, bitmap.Height), ImageLockMode.ReadWrite, PixelFormat.Format8bppIndexed);
byte *ptr = (byte *)(bmpData.Scan0);
for (int i = 0; i < height; i++)
{
for (int j = 0; j < width; j++)
{
int offset = (height - i - 1) * bmpData.Width + j;
int val = bytes[offset];
*(ptr + j) = (byte)val;
}
ptr = ptr + bmpData.Stride;
}
//Marshal.Copy(bmpData, 0, ptr, scanBytes);
bitmap.UnlockBits(bmpData); // 解锁内存区域
// 修改生成位图的索引表，从伪彩修改为灰度
ColorPalette palette;
// 获取一个Format8bppIndexed格式图像的Palette对象
using (Bitmap bmp = new Bitmap(1, 1, PixelFormat.Format8bppIndexed))
{
palette = bmp.Palette;
}
for (int i = 0; i < 256; i++)
{
palette.Entries[i] = Color.FromArgb(i, i, i);
}
// 修改生成位图的索引表
bitmap.Palette = palette;
string filePatn = "k:\\temp\\" + "_InspCode_";
if (!Directory.Exists(filePatn))
{
Directory.CreateDirectory(filePatn);
}
// int jobID_Code = _jobID_Code + 1;
string saveImagepath = filePatn + "\\" + DateTime.Now.ToString("yyyy_MM_dd_HH_mm_ss_fff") + ".bmp";
Cognex.VisionPro.CogImage8Grey G8 = new Cognex.VisionPro.CogImage8Grey(bitmap);
Bitmap bitmap1 = G8.ToBitmap();
bitmap1.Save(saveImagepath);
return(bitmap1);
}
catch (ArgumentNullException ex)
{
throw ex;
}
catch (ArgumentException ex)
{
throw ex;
}
}
private unsafe void Button_CAPTURE_Click(object sender, EventArgs e)
{
if (m_nDeviceCurSel == -1)
{
return;
}
int nCaptureWidth = 0;
int nCaptureHeight = 0;
int nCaptureBitCount = 0;
int nRet = KSJApiBase.KSJ_CaptureGetSizeEx(m_nDeviceCurSel, ref nCaptureWidth, ref nCaptureHeight, ref nCaptureBitCount);
PrintErrorMessage(nRet);
byte[] pImageData = new byte[nCaptureWidth * nCaptureHeight * (nCaptureBitCount >> 3)];
long counterStart = 0;
KSJApiBase.QueryPerformanceCounter(ref counterStart);
nRet = KSJApiBase.KSJ_CaptureRgbData(m_nDeviceCurSel, pImageData);
PrintErrorMessage(nRet);
if (nRet != KSJCode.RET_SUCCESS)
{
TextBox_ELAPSE_TIME.Text = "Capture Fail.";
}
long counterEnd = 0;
KSJApiBase.QueryPerformanceCounter(ref counterEnd);
long nFreq = 0;
KSJApiBase.QueryPerformanceFrequency(ref nFreq);
float fInterval = (float)(counterEnd - counterStart);
float fElapse = fInterval / (float)nFreq * 1000; // MS
bool bCheck = CheckBox_SAVE.Checked;
if (bCheck)
{
string szFileName = string.Format("capture-{0}-{1}-{2}-{3}-{4}-{5}-{6}-{7}.bmp", DateTime.Now.Year, DateTime.Now.Month, DateTime.Now.Day,
DateTime.Now.Hour, DateTime.Now.Minute, DateTime.Now.Second, DateTime.Now.Millisecond, fElapse);
KSJApiBase.KSJ_HelperSaveToBmp(pImageData, nCaptureWidth, nCaptureHeight, nCaptureBitCount, szFileName);
}
TextBox_ELAPSE_TIME.Text = string.Format("Elapse: {0}ms", fElapse);
Bitmap bitmap = new Bitmap(nCaptureWidth, nCaptureHeight, PixelFormat.Format8bppIndexed);
//获取图像的BitmapData对像
BitmapData bmpData = bitmap.LockBits(new Rectangle(0, 0, bitmap.Width, bitmap.Height), ImageLockMode.ReadWrite, PixelFormat.Format8bppIndexed);
byte *ptr = (byte *)(bmpData.Scan0);
for (int i = 0; i < nCaptureHeight; i++)
{
for (int j = 0; j < nCaptureWidth; j++)
{
int offset = (nCaptureHeight - i - 1) * bmpData.Width + j;
int val = pImageData[offset];
*(ptr + j) = (byte)val;
}
ptr = ptr + bmpData.Stride;
}
//Marshal.Copy(bmpData, 0, ptr, scanBytes);
bitmap.UnlockBits(bmpData); // 解锁内存区域
// 修改生成位图的索引表，从伪彩修改为灰度
ColorPalette palette;
// 获取一个Format8bppIndexed格式图像的Palette对象
using (Bitmap bmp = new Bitmap(1, 1, PixelFormat.Format8bppIndexed))
{
palette = bmp.Palette;
}
for (int i = 0; i < 256; i++)
{
palette.Entries[i] = Color.FromArgb(i, i, i);
}
// 修改生成位图的索引表
bitmap.Palette = palette;
Cognex.VisionPro.CogImage8Grey G8 = new Cognex.VisionPro.CogImage8Grey(bitmap);
cogDisplay1.Image = G8;
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//생성 :
//수정 :
//목적 : Run
//설명 :
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
public override bool HLRun(Cognex.VisionPro.CogImage8Grey objCogImage, out HLDevice.Abstract.CVisionLibraryAbstract.CResultData objResultData, bool bUseCalibrationImage = false)
{
objResultData = new CResultData();
bool bReturn = false;
do
{
try {
m_dScore = 0;
//이미지 결과 그래픽 생성
objResultData.objLineGraphics = new CogCompositeShape[2];
for (int iLoopCount = 0; iLoopCount < ( int )CResultData.enumLine.LINE_FINAL; iLoopCount++)
{
m_objFindLineTool[iLoopCount].InputImage = objCogImage;
m_objFindLineTool[iLoopCount].Run();
if (0 < m_objFindLineTool[iLoopCount].Results.Count)
{
m_objResultLine[iLoopCount] = m_objFindLineTool[iLoopCount].Results.GetLine();
m_objResultLineSegment[iLoopCount] = m_objFindLineTool[iLoopCount].Results.GetLineSegment();
m_objLineGraphics[iLoopCount] = m_objFindLineTool[iLoopCount].Results[0].CreateResultGraphics(CogFindLineResultGraphicConstants.All);
objResultData.objLineGraphics[iLoopCount] = new CogCompositeShape();
objResultData.objLineGraphics[iLoopCount] = m_objLineGraphics[iLoopCount];
m_objResultLine[iLoopCount].GetXYRotation(out m_dLinePositionX[iLoopCount], out m_dLinePositionY[iLoopCount], out m_dLineAngle[iLoopCount]);
m_dLineAngle[iLoopCount] = m_dLineAngle[iLoopCount] * (180 / Math.PI);
}
else
{
m_dLinePositionX[iLoopCount] = 0; m_dLinePositionY[iLoopCount] = 0; m_dLineAngle[iLoopCount] = 0;
MakeErrorMessage("HLSaveRecipe", 5405, "Line Fail");
break;
}
}
} catch (System.Exception ex) {
Trace.Write(ex.Message + "-> " + ex.StackTrace);
break;
}
m_objIntersectTool.InputImage = objCogImage;
m_objIntersectTool.LineA = m_objResultLine[( int )CResultData.enumLine.LINE_VERTICAL]; m_objIntersectTool.LineB = m_objResultLine[( int )CResultData.enumLine.LINE_HORIZON];
m_objIntersectTool.Run();
if (true == m_objIntersectTool.Intersects)
{
m_dAngle = Math.Abs(m_objIntersectTool.Angle * (180 / Math.PI));
if ((85 < m_dAngle || 95 > m_dAngle) || (265 < m_dAngle || 275 > m_dAngle))
{
m_dPositionX = m_objIntersectTool.X; m_dPositionY = m_objIntersectTool.Y;
}
else
{
m_dPositionX = -1; m_dPositionY = -1;
MakeErrorMessage("HLSaveRecipe", 5406, "IntersectTool Angle Range Out");
break;
}
}
else
{
m_dPositionX = -1; m_dPositionY = -1;
MakeErrorMessage("HLSaveRecipe", 5407, "IntersectTool Fail");
break;
}
m_dScore = 1;
bReturn = true;
} while(false);
for (int iLoopCount = 0; iLoopCount < ( int )CResultData.enumLine.LINE_FINAL; iLoopCount++)
{
objResultData.dLinePositionX[iLoopCount] = m_dLinePositionX[iLoopCount]; objResultData.dLinePositionY[0] = m_dLinePositionY[iLoopCount]; objResultData.dLineAngle[0] = m_dLineAngle[iLoopCount];
}
objResultData.dPositionX[0] = m_dPositionX; objResultData.dPositionY[0] = m_dPositionY; objResultData.dScore[0] = m_dScore;
// objResultData.bitmapInputImage = objCogImage.ToBitmap();
objResultData.bResult = bReturn; objResultData.eLibrary = CResultData.enumLibrary.FINDLINE_INTERSECT;
m_objResultData = ( CResultData )objResultData.Clone();
return(bReturn);
}
public CogImage8Grey(CogImage8Grey other);
