public static Shapes.Thing FindClosest(VideoProcessing vp, Shapes.ShapeTypes type, double FindTolerance, int retries, string templatefilename = null, double threshold = -1)
{
while (retries-- > 0)
{
Global.DoBackgroundWork();
//for (int i = 0; i < 3; i++) vp.GetMeasurementFrame(); //skip 10 frames
Shapes.Thing thing = null;
switch (type)
{
case Shapes.ShapeTypes.Circle:
thing = GetClosestCircle(vp, FindTolerance);
break;
case Shapes.ShapeTypes.Fiducial:
var things = FindTemplates(vp, templatefilename, threshold);
thing = GetClosest(GetWithin(things, FindTolerance));
break;
case Shapes.ShapeTypes.Rectangle:
thing = GetSmallestCenteredRectangle(FindRectangles(vp));
break;
default:
Global.Instance.DisplayText("detection of " + type + " not yet supported", Color.Red);
break;
}
if (thing != null)
{
return(thing);
}
}
return(null);
}
private Bitmap DrawRectanglesFunct(Bitmap image, VideoProcessing vp)
{
var rects = VideoDetection.FindRectangles(vp, image);
if (rects.Count == 0)
{
return(image);
}
var rect2 = VideoDetection.GetSmallestCenteredRectangle(rects);
try {
using (Image <Bgr, Byte> img = new Image <Bgr, byte>(image)) {
foreach (var rect in rects)
{
img.DrawPolyline(PointFToPoint(ToRotatedRectangle(rect)), true, new Bgr(Color.Red), 2);
}
if (rect2 != null)
{
img.DrawPolyline(PointFToPoint(ToRotatedRectangle(rect2)), true, new Bgr(Color.Green), 5);
img.Draw(new Cross2DF(rect2.ToPartLocation().ToPointF(), 20, 20), new Bgr(Color.Blue), 2);
}
image = img.ToBitmap();
}
} catch {
}
return(image);
}
/// <summary>
/// This function will take a bitmap image and find the locations of a template image in the file for a given threhsold
/// </summary>
/// <param name="image">Bitmap of image to look at</param>
/// <param name="template_filename">File containg template image</param>
/// <returns>imagefinder object</returns>
public static List <Shapes.Fiducal> FindTemplates(VideoProcessing vp, Bitmap image, string template_filename, double threshold)
{
if (!File.Exists(template_filename))
{
return(new List <Shapes.Fiducal>());
}
Image <Bgr, Byte> img = new Image <Bgr, byte>(image);
if (!templateCache.ContainsKey(template_filename))
{
Image <Bgr, Byte> templ1 = new Image <Bgr, byte>(template_filename);
Image <Bgr, Byte> templ2 = new Image <Bgr, byte>(templ1.Height, templ1.Width);
CvInvoke.cvTranspose(templ1.Ptr, templ2.Ptr);
templateCache.Add(template_filename, templ1);
rotatedTemplateCache.Add(template_filename, templ2);
}
ImageFinder imageFinder = new ImageFinder(img, threshold);
imageFinder.FindImage(templateCache[template_filename]);
imageFinder.FindImage(rotatedTemplateCache[template_filename]);
var ret = imageFinder.Points.Select(x => new Shapes.Fiducal(x.X, x.Y)).ToList();
SetVideoProcessing(ret, vp);
return(ret);
}
// Sorting Routines ================================
public static void SetVideoProcessing <T>(List <T> list, VideoProcessing vp) where T : Shapes.Thing
{
list.RemoveAll(x => x == null);
foreach (var x in list)
{
x.videoProcessing = vp;
}
}
public static List <Shapes.Rectangle> FindRectangles(VideoProcessing vp, Bitmap frame)
{
List <Shapes.Rectangle> rects = new List <Shapes.Rectangle>();
using (Image <Bgr, Byte> img = new Image <Bgr, byte>(frame)) {
// double cannyThresholdLinking = 120.0;
// double cannyThreshold = 180.0;
//Convert the image to grayscale and filter out the noise
Image <Gray, Byte> gray = img.Convert <Gray, Byte>().PyrDown().PyrUp();
//Image<Gray, Byte> cannyEdges = gray.Canny(cannyThreshold, cannyThresholdLinking);
using (MemStorage storage = new MemStorage()) { //allocate storage for contour approximation
Contour <System.Drawing.Point> contours = gray.FindContours(CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE, RETR_TYPE.CV_RETR_LIST, storage);
for (; contours != null; contours = contours.HNext)
{
Contour <System.Drawing.Point> currentContour = contours.ApproxPoly(contours.Perimeter * 0.05, storage);
if (currentContour.Area > 250) //only consider contours with area greater than 250
{
if (currentContour.Total == 4) //The contour has 4 vertices.
{
#region determine if all the angles in the contour are within [80, 100] degree
bool isRectangle = true;
System.Drawing.Point[] pts = currentContour.ToArray();
LineSegment2D[] edges = PointCollection.PolyLine(pts, true);
for (int i = 0; i < edges.Length; i++)
{
double angle = Math.Abs(edges[(i + 1) % edges.Length].GetExteriorAngleDegree(edges[i]));
if (angle < 80 || angle > 100)
{
isRectangle = false;
break;
}
}
#endregion
if (isRectangle)
{
var box = currentContour.GetMinAreaRect();
Shapes.Rectangle r = new Shapes.Rectangle(box.center.X, box.center.Y, box.angle);
r.Height = box.size.Height;
r.Width = box.size.Width;
rects.Add(r);
}
}
}
}
}
}
//ensure we dont have massive rectangles
rects = rects.Where(x => (x.Height < .8 * vp.FrameSize.Height && x.Width < .8 * vp.FrameSize.Width)).ToList();
SetVideoProcessing(rects, vp);
return(rects);
}
public static Shapes.Circle GetClosestAverageCircle(VideoProcessing vp, double tolerance, double retries)
{
List <Shapes.Circle> circles = new List <Shapes.Circle>();
while (retries-- > 0)
{
circles.Add(GetClosestCircle(vp, tolerance));
}
return(AverageLocation(circles));
}
// =========================================================
private void DrawFiducialFunct(ref Bitmap image, VideoProcessing vp)
{
MarkA.Clear();
var fids = VideoDetection.FindTemplates(vp, image);
foreach (var f in fids)
{
f.ToScreenResolution();
}
MarkA.AddRange(fids.Select(x => x.ToPartLocation().ToPointF()).ToArray());
}
// =========================================================
private void DrawCirclesFunct(Bitmap bitmap, VideoProcessing vp)
{
List <Shapes.Circle> Circles = VideoDetection.FindCircles(vp, bitmap);
using (Graphics g = Graphics.FromImage(bitmap))
using (Pen pen = new Pen(Color.DarkOrange, 2))
for (int i = 0, n = Circles.Count; i < n; i++)
{
Circles[i].ToRawResolution();
g.DrawEllipse(pen,
(float)(Circles[i].X - Circles[i].Radius), (float)(Circles[i].Y - Circles[i].Radius),
(float)(Circles[i].Radius * 2), (float)(Circles[i].Radius * 2));
}
}
public static PartLocation Convert(VideoProcessing videoProcessing, PartLocation p, PointMode fromMode, PointMode toMode)
{
Thing t = new Thing(p, fromMode);
t.videoProcessing = videoProcessing;
switch (toMode)
{
case PointMode.MM: return(t.ToMMResolution().ToPartLocation());
case PointMode.Raw: return(t.ToRawResolution().ToPartLocation());
case PointMode.Screen: return(t.ToScreenResolution().ToPartLocation());
case PointMode.ScreenUnzoomed: return(t.ToScreenUnzoomedResolution().ToPartLocation());
}
return(null);
}
public static void DoNeedleErrorMeasurement(VideoProcessing vp)
{
var cnc = Global.Instance.cnc;
var originalLocation = cnc.XYALocation;
PartLocation testLocation = Global.GoTo("Up Camera");
cnc.Zdown(Properties.Settings.Default.focus_height, true);
// setup camera
vp.SetFunctionsList("Needle");
vp.s.FindCircles = true;
vp.s.Draw1mmGrid = true;
var Needle = Global.Instance.needle;
List <PartLocation> offsetError = new List <PartLocation>();
for (int i = 0; i <= 360; i += 45)
{
testLocation.A = i;
var pp = testLocation - Needle.NeedleOffset;
Needle.Move_m(pp); // move to target
// mark erro
var circle = VideoDetection.GetClosestCircle(vp, 10);
if (circle != null)
{
vp.MarkA.Add(circle.ToScreenResolution().ToPartLocation().ToPointF());
circle.ToMMResolution();
offsetError.Add(circle.ToPartLocation());
}
Thread.Sleep(500); //wait 1 second
}
Global.Instance.mainForm.ShowSimpleMessageBox("Upcamera offset Error is " + PartLocation.Average(offsetError) + "\nMax Error is " + PartLocation.MaxValues(offsetError));
cnc.Zup();
cnc.CNC_XYA(originalLocation);
//revert to previous state
vp.Reset();
}
public static void DoNeedleErrorMeasurement(VideoProcessing vp)
{
var cnc = Global.Instance.cnc;
var originalLocation = cnc.XYALocation;
PartLocation testLocation = Global.GoTo("Up Camera");
cnc.Zdown(Properties.Settings.Default.focus_height, true);
// setup camera
vp.SetFunctionsList("Needle");
vp.s.FindCircles = true;
vp.s.Draw1mmGrid = true;
var Needle = Global.Instance.needle;
List<PartLocation> offsetError = new List<PartLocation>();
for (int i = 0; i <= 360; i += 45) {
testLocation.A = i;
var pp = testLocation - Needle.NeedleOffset;
Needle.Move_m(pp); // move to target
// mark erro
var circle = VideoDetection.GetClosestCircle(vp, 10);
if (circle != null) {
vp.MarkA.Add(circle.ToScreenResolution().ToPartLocation().ToPointF());
circle.ToMMResolution();
offsetError.Add(circle.ToPartLocation());
}
Thread.Sleep(500); //wait 1 second
}
Global.Instance.mainForm.ShowSimpleMessageBox("Upcamera offset Error is " + PartLocation.Average(offsetError) + "\nMax Error is " + PartLocation.MaxValues(offsetError));
cnc.Zup();
cnc.CNC_XYA(originalLocation);
//revert to previous state
vp.Reset();
}
/// <summary>
/// Finds circles - zoom is NOT compensated for in returned results
/// </summary>
/// <returns>Graphic coordinates with zoom not accounted for for found circles</returns>
public static List <Shapes.Circle> FindCircles(VideoProcessing vp, Bitmap frame)
{
// locating objects
if (frame == null)
{
return(null);
}
BlobCounter blobCounter = new BlobCounter();
blobCounter.FilterBlobs = true;
blobCounter.MinHeight = 5;
blobCounter.MinWidth = 5;
blobCounter.ProcessImage(frame);
Blob[] blobs = blobCounter.GetObjectsInformation();
List <Shapes.Circle> Circles = new List <Shapes.Circle>();
for (int i = 0, n = blobs.Length; i < n; i++)
{
SimpleShapeChecker shapeChecker = new SimpleShapeChecker();
List <IntPoint> edgePoints = blobCounter.GetBlobsEdgePoints(blobs[i]);
Point center;
float radius;
// is circle ?
if (shapeChecker.IsCircle(edgePoints, out center, out radius))
{
if (radius > 3) // filter out some noise
{
var circle = new Shapes.Circle(center.X, center.Y, radius);
Circles.Add(circle);
}
}
}
SetVideoProcessing(Circles, vp);
return(Circles);
}
// =========================================================
private void DrawCirclesFunct(Bitmap bitmap, VideoProcessing vp)
{
List<Shapes.Circle> Circles = VideoDetection.FindCircles(vp, bitmap);
using (Graphics g = Graphics.FromImage(bitmap))
using (Pen pen = new Pen(Color.DarkOrange, 2))
for (int i = 0, n = Circles.Count; i < n; i++) {
Circles[i].ToRawResolution();
g.DrawEllipse(pen,
(float)(Circles[i].X - Circles[i].Radius), (float)(Circles[i].Y - Circles[i].Radius),
(float)(Circles[i].Radius * 2), (float)(Circles[i].Radius * 2));
}
}
public static Shapes.Circle GetClosestCircle(VideoProcessing vp, double tolerance)
{
Global.Instance.DisplayText("GetClosestCircle(" + tolerance + ")", Color.Orange);
return(GetClosest(GetWithin(FindCircles(vp), tolerance)));
}
/************** These functions are intelligent about their resolution/offset and can be changed dynamically *****/
public static List <Shapes.Circle> FindCircles(VideoProcessing vp)
{
return(FindCircles(vp, vp.GetMeasurementFrame()));
}
public static List <Shapes.Component> FindComponents(VideoProcessing vp, Bitmap bitmap)
{
// Locating objects
BlobCounter blobCounter = new BlobCounter();
blobCounter.FilterBlobs = true;
blobCounter.MinHeight = 8;
blobCounter.MinWidth = 8;
blobCounter.ProcessImage(bitmap);
Blob[] blobs = blobCounter.GetObjectsInformation();
// create convex hull searching algorithm
GrahamConvexHull hullFinder = new GrahamConvexHull();
ClosePointsMergingOptimizer optimizer1 = new ClosePointsMergingOptimizer();
FlatAnglesOptimizer optimizer2 = new FlatAnglesOptimizer();
List <Shapes.Component> Components = new List <Shapes.Component>();
// process each blob
foreach (Blob blob in blobs)
{
List <IntPoint> leftPoints, rightPoints, edgePoints = new List <IntPoint>();
if ((blob.Rectangle.Height > 400) && (blob.Rectangle.Width > 600))
{
break; // The whole image could be a blob, discard that
}
// get blob's edge points
blobCounter.GetBlobsLeftAndRightEdges(blob,
out leftPoints, out rightPoints);
edgePoints.AddRange(leftPoints);
edgePoints.AddRange(rightPoints);
// blob's convex hull
List <IntPoint> Outline = hullFinder.FindHull(edgePoints);
optimizer1.MaxDistanceToMerge = 4;
optimizer2.MaxAngleToKeep = 170F;
Outline = optimizer2.OptimizeShape(Outline);
Outline = optimizer1.OptimizeShape(Outline);
// find Longest line segment
float dist = 0;
LineSegment Longest = new LineSegment(Outline[0], Outline[1]);
LineSegment line;
dist = Longest.Length;
int LongestInd = 0;
for (int i = 1; i < Outline.Count; i++)
{
if (i != Outline.Count - 1)
{
line = new LineSegment(Outline[i], Outline[i + 1]);
}
else
{
// last iteration
if (Outline[i] == Outline[0])
{
break;
}
line = new LineSegment(Outline[i], Outline[0]);
}
if (line.Length > dist)
{
Longest = line;
dist = line.Length;
LongestInd = i;
}
}
// Get the center point of it
Point LongestCenter = new Point();
LongestCenter.X = (float)Math.Round((Longest.End.X - Longest.Start.X) / 2.0 + Longest.Start.X);
LongestCenter.Y = (float)Math.Round((Longest.End.Y - Longest.Start.Y) / 2.0 + Longest.Start.Y);
Point NormalStart = new Point();
Point NormalEnd = new Point();
// Find normal:
// start= longest.start rotated +90deg relative to center
// end= longest.end rotated -90deg and relative to center
// If you rotate point (px, py) around point (ox, oy) by angle theta you'll get:
// p'x = cos(theta) * (px-ox) - sin(theta) * (py-oy) + ox
// p'y = sin(theta) * (px-ox) + cos(theta) * (py-oy) + oy
// cos90 = 0, sin90= 1 =>
// p'x= -(py-oy) + ox= oy-py+ox, p'y= (px-ox)+ oy
NormalStart.X = LongestCenter.Y - Longest.Start.Y + LongestCenter.X;
NormalStart.Y = (Longest.Start.X - LongestCenter.X) + LongestCenter.Y;
// cos-90=0, sin-90= -1 =>
// p'x= (py-oy) + ox
// p'y= -(px-ox)+oy= ox-px+oy
NormalEnd.X = (Longest.Start.Y - LongestCenter.Y) + LongestCenter.X;
NormalEnd.Y = LongestCenter.X - Longest.Start.X + LongestCenter.Y;
// Make line out of the points
Line Normal = Line.FromPoints(NormalStart, NormalEnd);
// Find the furthest intersection to the normal (skip the Longest)
Point InterSection = new Point();
Point Furthest = new Point();
bool FurhtestAssinged = false;
LineSegment seg;
dist = 0;
for (int i = 0; i < Outline.Count; i++)
{
if (i == LongestInd)
{
continue;
}
if (i != Outline.Count - 1)
{
seg = new LineSegment(Outline[i], Outline[i + 1]);
}
else
{
// last iteration
if (Outline[i] == Outline[0])
{
break;
}
seg = new LineSegment(Outline[i], Outline[0]);
}
if (seg.GetIntersectionWith(Normal) == null)
{
continue;
}
InterSection = (Point)seg.GetIntersectionWith(Normal);
if (InterSection.DistanceTo(LongestCenter) > dist)
{
Furthest = InterSection;
FurhtestAssinged = true;
dist = InterSection.DistanceTo(LongestCenter);
}
}
// Check, if there is a edge point that is close to the normal even further
Point fPoint = new Point();
for (int i = 0; i < Outline.Count; i++)
{
fPoint.X = Outline[i].X;
fPoint.Y = Outline[i].Y;
if (Normal.DistanceToPoint(fPoint) < 1.5)
{
if (fPoint.DistanceTo(LongestCenter) > dist)
{
Furthest = fPoint;
FurhtestAssinged = true;
dist = fPoint.DistanceTo(LongestCenter);
}
}
}
Point ComponentCenter = new Point();
if (FurhtestAssinged)
{
// Find the midpoint of LongestCenter and Furthest: This is the centerpoint of component
ComponentCenter.X = (float)Math.Round((LongestCenter.X - Furthest.X) / 2.0 + Furthest.X);
ComponentCenter.Y = (float)Math.Round((LongestCenter.Y - Furthest.Y) / 2.0 + Furthest.Y);
// Alignment is the angle of longest
double Alignment;
if (Math.Abs(Longest.End.X - Longest.Start.X) < 0.001)
{
Alignment = 0;
}
else
{
Alignment = Math.Atan((Longest.End.Y - Longest.Start.Y) / (Longest.End.X - Longest.Start.X));
Alignment = Alignment * 180.0 / Math.PI; // in deg.
}
Components.Add(new Shapes.Component(ComponentCenter, Alignment, Outline, Longest, NormalStart, NormalEnd));
}
}
SetVideoProcessing(Components, vp);
return(Components);
}
private Bitmap DrawRectanglesFunct(Bitmap image, VideoProcessing vp )
{
var rects = VideoDetection.FindRectangles(vp, image);
if (rects.Count == 0) return image;
var rect2 = VideoDetection.GetSmallestCenteredRectangle(rects);
try {
using (Image<Bgr, Byte> img = new Image<Bgr, byte>(image)) {
foreach (var rect in rects) {
img.DrawPolyline(PointFToPoint(ToRotatedRectangle(rect)), true, new Bgr(Color.Red), 2);
}
if (rect2 != null) {
img.DrawPolyline(PointFToPoint(ToRotatedRectangle(rect2)), true, new Bgr(Color.Green), 5);
img.Draw(new Cross2DF(rect2.ToPartLocation().ToPointF(), 20, 20), new Bgr(Color.Blue), 2);
}
image = img.ToBitmap();
}
} catch {
}
return image;
}
private static PartLocation DoCameraCalibration(VideoProcessing vp, PartLocation movement)
{
var cnc = Global.Instance.cnc;
var distance = new List<PartLocation>();
var pixels = new List<PartLocation>();
// turn on slack compensation
var savedSlackCompensation = cnc.SlackCompensation;
cnc.SlackCompensation = true;
var startingPos = cnc.XYLocation;
startingPos.A = 0;
vp.MarkA.Clear();
for (int i = -4; i < 5; i++) {
//move
var newLocation = startingPos + (i * movement);
if (!cnc.CNC_XYA(newLocation)) return null;
//try 5 times to find a circle
List<Shapes.Circle> circles = new List<Shapes.Circle>();
for (int tries = 5; tries > 0 && circles.Count == 0; tries--)
circles = VideoDetection.FindCircles(vp);
if (circles.Count == 0) continue; //not found, move and try again
//find largest circle of the bunch
var circle = circles.Aggregate((c, d) => c.Radius > d.Radius ? c : d); //find largest circle if we have multiple
// var circlePL = (1 / zoom) * circle.ToPartLocation(); //compensate for zoom
circle.ToScreenUnzoomedResolution();
distance.Add(newLocation);
pixels.Add(circle.ToPartLocation());
vp.MarkA.Add(circle.Clone().ToScreenResolution().ToPartLocation().ToPointF());
//DisplayText(String.Format("Actual Loc = {0}\t Measured Loc = {1}", newLocation, UpCamera.PixelsToActualLocation(circlePL)), Color.Blue);
}
double XmmPerPixel = 0, YmmPerPixel = 0;
if (pixels.Count < 2) {
Global.Instance.mainForm.ShowMessageBox("Unable To Detect Circles",
"Try to adjust upcamera processing to see circles, and ensure upcamera needle position is correctly configured",
MessageBoxButtons.OK);
} else {
// Do regression on X and Y
var Xs = pixels.Select(xx => xx.X).ToArray();
var Ys = distance.Select(xx => xx.X).ToArray();
var result = SimpleRegression.Fit(Xs, Ys);
XmmPerPixel = result.Item2;
Xs = pixels.Select(xx => xx.Y).ToArray();
Ys = distance.Select(xx => xx.Y).ToArray();
result = SimpleRegression.Fit(Xs, Ys);
YmmPerPixel = result.Item2;
Global.Instance.DisplayText(String.Format("{0} Xmm/pixel {1} Ymm/pixel", XmmPerPixel, YmmPerPixel), Color.Purple);
// Now move to the center
/* need to get gotolocation upcamera working still
double X, Y; //error offset
GotoUpCamPosition_button_Click(null, null);
for (int tries = 5; tries > 0; tries--) {
if (GoToLocation_m(UpCamera, Shapes.ShapeTypes.Circle, 1.8, 0.5, out X, out Y)) {
Properties.Settings.Default.UpCam_PositionX = Cnc.CurrentX + X;
Properties.Settings.Default.UpCam_PositionY = Cnc.CurrentY - Y;
UpcamPositionX_textBox.Text = Properties.Settings.Default.UpCam_PositionX.ToString("0.00", CultureInfo.InvariantCulture);
UpcamPositionY_textBox.Text = Properties.Settings.Default.UpCam_PositionY.ToString("0.00", CultureInfo.InvariantCulture);
}
}
*/
}
//restore settings
cnc.SlackCompensation = savedSlackCompensation;
vp.MarkA.Clear();
//return value
return (pixels.Count < 2) ? null : new PartLocation(Math.Abs(XmmPerPixel), Math.Abs(YmmPerPixel));
}
private Bitmap DrawComponentsFunct(Bitmap bitmap, VideoProcessing vp)
{
List <Shapes.Component> Components = VideoDetection.FindComponents(vp, bitmap);
Graphics g = Graphics.FromImage(bitmap);
Pen OrangePen = new Pen(Color.DarkOrange, 1);
Pen RedPen = new Pen(Color.DarkRed, 2);
Pen BluePen = new Pen(Color.Blue, 2);
Shapes.Component Component;
Point p1 = new Point();
Point p2 = new Point();
for (int i = 0, n = Components.Count; i < n; i++)
{
Component = Components[i];
// move Component.Longest start to ComponentCenter, draw it
float dx = Component.Center.X - Component.Longest.Start.X;
float dy = Component.Center.Y - Component.Longest.Start.Y;
p1.X = (int)Math.Round(Component.Longest.Start.X + dx);
p1.Y = (int)Math.Round(Component.Longest.Start.Y + dy);
p2.X = (int)Math.Round(Component.Longest.End.X + dx);
p2.Y = (int)Math.Round(Component.Longest.End.Y + dy);
g.DrawLine(RedPen, p1, p2);
// move Component.Longest end to ComponentCenter, draw Component.Longest
dx = Component.Center.X - Component.Longest.End.X;
dy = Component.Center.Y - Component.Longest.End.Y;
p1.X = (int)Math.Round(Component.Longest.Start.X + dx);
p1.Y = (int)Math.Round(Component.Longest.Start.Y + dy);
p2.X = (int)Math.Round(Component.Longest.End.X + dx);
p2.Y = (int)Math.Round(Component.Longest.End.Y + dy);
g.DrawLine(RedPen, p1, p2);
// move Normal start to ComponentCenter, draw it
dx = Component.Center.X - Component.NormalStart.X;
dy = Component.Center.Y - Component.NormalStart.Y;
p1.X = (int)Math.Round(Component.NormalStart.X + dx);
p1.Y = (int)Math.Round(Component.NormalStart.Y + dy);
p2.X = (int)Math.Round(Component.NormalEnd.X + dx);
p2.Y = (int)Math.Round(Component.NormalEnd.Y + dy);
g.DrawLine(RedPen, p1, p2);
// move Component.Normal end to ComponentCenter, draw it
dx = Component.Center.X - Component.NormalEnd.X;
dy = Component.Center.Y - Component.NormalEnd.Y;
p1.X = (int)Math.Round(Component.NormalStart.X + dx);
p1.Y = (int)Math.Round(Component.NormalStart.Y + dy);
p2.X = (int)Math.Round(Component.NormalEnd.X + dx);
p2.Y = (int)Math.Round(Component.NormalEnd.Y + dy);
g.DrawLine(RedPen, p1, p2);
// draw outline
g.DrawPolygon(OrangePen, ToPointsArray(Component.Outline));
// draw Component.Longest
p1.X = (int)Math.Round(Component.Longest.Start.X);
p1.Y = (int)Math.Round(Component.Longest.Start.Y);
p2.X = (int)Math.Round(Component.Longest.End.X);
p2.Y = (int)Math.Round(Component.Longest.End.Y);
g.DrawLine(BluePen, p1, p2);
}
return(bitmap);
}
// will only work with downcamera
public Shapes.Thing GoToClosestThing(Shapes.ShapeTypes type, double FindTolerance, double MoveTolerance, VideoProcessing vp = null, string template = null, double threshold = -1) {
DisplayText("GoToThing(" + type + "), FindTolerance: " + FindTolerance + ", MoveTolerance: " + MoveTolerance, Color.Orange);
vp = vp ?? cameraView.downVideoProcessing;
Shapes.Thing thing = null;
double dir = (vp.IsUpCamera()) ? -1 : 1;
for (int i = 0; i < 8; i++) { //move up to 8 times
Global.DoBackgroundWork();
thing = VideoDetection.FindClosest(vp, type, FindTolerance, 2, template, threshold);
if (thing == null) break; //couldn't find
thing.ToMMResolution();
DisplayText("--> round " + i + ", offset= " + thing.ToPartLocation() + " dist/tol = " + thing.ToPartLocation().VectorLength().ToString("F2") + " of " + FindTolerance);
// If we are further than move tolerance, go there, else end loop
if (thing.ToPartLocation().VectorLength() > MoveTolerance) {
Console.WriteLine("\tmoving by " + thing.ToPartLocation());
Cnc.CNC_XY(Cnc.XYLocation + (dir * thing.ToPartLocation()));
} else break;
}
//if (thing == null) ShowSimpleMessageBox("Optical positioning: Process is unstable, result is unreliable!");
if (thing != null) thing.AddOffset(Cnc.XYLocation);
return thing;
}
private Bitmap DrawComponentsFunct(Bitmap bitmap, VideoProcessing vp)
{
List<Shapes.Component> Components = VideoDetection.FindComponents(vp,bitmap);
Graphics g = Graphics.FromImage(bitmap);
Pen OrangePen = new Pen(Color.DarkOrange, 1);
Pen RedPen = new Pen(Color.DarkRed, 2);
Pen BluePen = new Pen(Color.Blue, 2);
Shapes.Component Component;
Point p1 = new Point();
Point p2 = new Point();
for (int i = 0, n = Components.Count; i < n; i++) {
Component = Components[i];
// move Component.Longest start to ComponentCenter, draw it
float dx = Component.Center.X - Component.Longest.Start.X;
float dy = Component.Center.Y - Component.Longest.Start.Y;
p1.X = (int)Math.Round(Component.Longest.Start.X + dx);
p1.Y = (int)Math.Round(Component.Longest.Start.Y + dy);
p2.X = (int)Math.Round(Component.Longest.End.X + dx);
p2.Y = (int)Math.Round(Component.Longest.End.Y + dy);
g.DrawLine(RedPen, p1, p2);
// move Component.Longest end to ComponentCenter, draw Component.Longest
dx = Component.Center.X - Component.Longest.End.X;
dy = Component.Center.Y - Component.Longest.End.Y;
p1.X = (int)Math.Round(Component.Longest.Start.X + dx);
p1.Y = (int)Math.Round(Component.Longest.Start.Y + dy);
p2.X = (int)Math.Round(Component.Longest.End.X + dx);
p2.Y = (int)Math.Round(Component.Longest.End.Y + dy);
g.DrawLine(RedPen, p1, p2);
// move Normal start to ComponentCenter, draw it
dx = Component.Center.X - Component.NormalStart.X;
dy = Component.Center.Y - Component.NormalStart.Y;
p1.X = (int)Math.Round(Component.NormalStart.X + dx);
p1.Y = (int)Math.Round(Component.NormalStart.Y + dy);
p2.X = (int)Math.Round(Component.NormalEnd.X + dx);
p2.Y = (int)Math.Round(Component.NormalEnd.Y + dy);
g.DrawLine(RedPen, p1, p2);
// move Component.Normal end to ComponentCenter, draw it
dx = Component.Center.X - Component.NormalEnd.X;
dy = Component.Center.Y - Component.NormalEnd.Y;
p1.X = (int)Math.Round(Component.NormalStart.X + dx);
p1.Y = (int)Math.Round(Component.NormalStart.Y + dy);
p2.X = (int)Math.Round(Component.NormalEnd.X + dx);
p2.Y = (int)Math.Round(Component.NormalEnd.Y + dy);
g.DrawLine(RedPen, p1, p2);
// draw outline
g.DrawPolygon(OrangePen, ToPointsArray(Component.Outline));
// draw Component.Longest
p1.X = (int)Math.Round(Component.Longest.Start.X);
p1.Y = (int)Math.Round(Component.Longest.Start.Y);
p2.X = (int)Math.Round(Component.Longest.End.X);
p2.Y = (int)Math.Round(Component.Longest.End.Y);
g.DrawLine(BluePen, p1, p2);
}
return (bitmap);
}
private static PartLocation DoCameraCalibration(VideoProcessing vp, PartLocation movement)
{
var cnc = Global.Instance.cnc;
var distance = new List <PartLocation>();
var pixels = new List <PartLocation>();
// turn on slack compensation
var savedSlackCompensation = cnc.SlackCompensation;
cnc.SlackCompensation = true;
var startingPos = cnc.XYLocation;
startingPos.A = 0;
vp.MarkA.Clear();
for (int i = -4; i < 5; i++)
{
//move
var newLocation = startingPos + (i * movement);
if (!cnc.CNC_XYA(newLocation))
{
return(null);
}
//try 5 times to find a circle
List <Shapes.Circle> circles = new List <Shapes.Circle>();
for (int tries = 5; tries > 0 && circles.Count == 0; tries--)
{
circles = VideoDetection.FindCircles(vp);
}
if (circles.Count == 0)
{
continue; //not found, move and try again
}
//find largest circle of the bunch
var circle = circles.Aggregate((c, d) => c.Radius > d.Radius ? c : d); //find largest circle if we have multiple
// var circlePL = (1 / zoom) * circle.ToPartLocation(); //compensate for zoom
circle.ToScreenUnzoomedResolution();
distance.Add(newLocation);
pixels.Add(circle.ToPartLocation());
vp.MarkA.Add(circle.Clone().ToScreenResolution().ToPartLocation().ToPointF());
//DisplayText(String.Format("Actual Loc = {0}\t Measured Loc = {1}", newLocation, UpCamera.PixelsToActualLocation(circlePL)), Color.Blue);
}
double XmmPerPixel = 0, YmmPerPixel = 0;
if (pixels.Count < 2)
{
Global.Instance.mainForm.ShowMessageBox("Unable To Detect Circles",
"Try to adjust upcamera processing to see circles, and ensure upcamera needle position is correctly configured",
MessageBoxButtons.OK);
}
else
{
// Do regression on X and Y
var Xs = pixels.Select(xx => xx.X).ToArray();
var Ys = distance.Select(xx => xx.X).ToArray();
var result = SimpleRegression.Fit(Xs, Ys);
XmmPerPixel = result.Item2;
Xs = pixels.Select(xx => xx.Y).ToArray();
Ys = distance.Select(xx => xx.Y).ToArray();
result = SimpleRegression.Fit(Xs, Ys);
YmmPerPixel = result.Item2;
Global.Instance.DisplayText(String.Format("{0} Xmm/pixel {1} Ymm/pixel", XmmPerPixel, YmmPerPixel), Color.Purple);
// Now move to the center
/* need to get gotolocation upcamera working still
* double X, Y; //error offset
* GotoUpCamPosition_button_Click(null, null);
* for (int tries = 5; tries > 0; tries--) {
* if (GoToLocation_m(UpCamera, Shapes.ShapeTypes.Circle, 1.8, 0.5, out X, out Y)) {
* Properties.Settings.Default.UpCam_PositionX = Cnc.CurrentX + X;
* Properties.Settings.Default.UpCam_PositionY = Cnc.CurrentY - Y;
* UpcamPositionX_textBox.Text = Properties.Settings.Default.UpCam_PositionX.ToString("0.00", CultureInfo.InvariantCulture);
* UpcamPositionY_textBox.Text = Properties.Settings.Default.UpCam_PositionY.ToString("0.00", CultureInfo.InvariantCulture);
*
* }
* }
*/
}
//restore settings
cnc.SlackCompensation = savedSlackCompensation;
vp.MarkA.Clear();
//return value
return((pixels.Count < 2) ? null : new PartLocation(Math.Abs(XmmPerPixel), Math.Abs(YmmPerPixel)));
}
public CameraView()
{
InitializeComponent();
this.Closing += new CancelEventHandler(Cleanup);
//setup video processing
// load the different filter blocks
upSet = new AForgeFunctionSet("UP");
downSet = new AForgeFunctionSet("DOWN");
HideFilters(); //start hidden
//start video capture
upVideoCapture = new VideoCapture(CameraType.UpCamera);
upVideoProcessing = new VideoProcessing(upVideoCapture);
upVideoCapture.FrameCaptureDelegates.Add(UpCameraVideoProcessingCallback);
upVideoProcessing.SetFunctionsList(currentUpBinding);
downVideoCapture = new VideoCapture(CameraType.DownCamera);
downVideoProcessing = new VideoProcessing(downVideoCapture);
downVideoCapture.FrameCaptureDelegates.Add(DownCameraVideoProcessingCallback);
downVideoProcessing.SetFunctionsList(currentDownBinding);
//fill combobox // todo - restore from defaults
UpCamera_FilterSet.DataSource = new BindingSource {
DataSource = upSet.GetNames()
};
DownCamera_FilterSet.DataSource = new BindingSource {
DataSource = downSet.GetNames()
};
var videoSources = VideoCapture.GetVideoDeviceList();
UpCam_ComboBox.DataSource = new BindingSource {
DataSource = videoSources
};
DownCam_ComboBox.DataSource = new BindingSource {
DataSource = videoSources
};
//load saved values
var s = Properties.Settings.Default;
if (s.DownCam_index > 0 && s.DownCam_index <= videoSources.Count + 1)
{
DownCam_ComboBox.SelectedIndex = s.DownCam_index - 1;
downVideoCapture.Start(DownCam_ComboBox.SelectedIndex);
}
if (s.UpCam_index > 0 && s.UpCam_index <= videoSources.Count + 1 && s.UpCam_index != s.DownCam_index)
{
UpCam_ComboBox.SelectedIndex = s.UpCam_index - 1;
upVideoCapture.Start(UpCam_ComboBox.SelectedIndex);
}
//bind editor values
uFilter_dataGridView.DataSource = currentUpBinding;
dFilter_dataGridView.DataSource = currentDownBinding;
methodDataGridViewTextBoxColumn.DataSource = Enum.GetValues(typeof(AForgeMethod));
methodDataGridViewTextBoxColumn1.DataSource = Enum.GetValues(typeof(AForgeMethod));
}
public static List <Shapes.Fiducal> FindTemplates(VideoProcessing vp, Bitmap image)
{
return(FindTemplates(vp, image, Settings.Default.template_file, Settings.Default.template_threshold));
}
// higher levels tuff
public static int MeasureClosestComponentInPx(out double X, out double Y, out double A, VideoProcessing vp, double Tolerance, int averages)
{
X = 0;
double Xsum = 0;
Y = 0;
double Ysum = 0;
A = 0.0;
double Asum = 0.0;
List <Shapes.Component> components = new List <Shapes.Component>();
for (int i = 0; i < 5; i++)
{
components.Add(
GetClosest(
GetWithin(FindComponents(vp), Tolerance)
));
}
int count = components.Count;
if (count == 0)
{
return(0);
}
foreach (var c in components)
{
Xsum += c.X;
Ysum += c.Y;
Asum += Global.ReduceRotation(c.A);
}
X = Xsum / count;
Y = Ysum / count;
A = -Asum / count;
return(count);
}
public static List <Shapes.Component> FindComponents(VideoProcessing vp)
{
return(FindComponents(vp, vp.GetMeasurementFrame()));
}
public static List <Shapes.Rectangle> FindRectangles(VideoProcessing vp)
{
Global.DoBackgroundWork();
return(FindRectangles(vp, vp.GetMeasurementFrame()));
}
// =========================================================
private void DrawFiducialFunct(ref Bitmap image, VideoProcessing vp)
{
MarkA.Clear();
var fids = VideoDetection.FindTemplates(vp, image);
foreach (var f in fids) f.ToScreenResolution();
MarkA.AddRange(fids.Select(x => x.ToPartLocation().ToPointF()).ToArray());
}
public CameraView()
{
InitializeComponent();
//call this function when closing
//this.Closing +=new CancelEventHandler(Cleanup); //this is depreciated
this.FormClosing += new FormClosingEventHandler(CameraView_FormClosing); //do not allow the cameraview to be closed by itself
//setup key handeling
KeyPreview = true;
Global.Instance.mainForm.SetupCursorNavigation(Controls);
KeyUp += Global.Instance.mainForm.My_KeyUp;
//setup video processing
// load the different filter blocks
upSet = new AForgeFunctionSet("UP");
downSet = new AForgeFunctionSet("DOWN");
HideFilters(); //start hidden
//Setup Checkbox Bindings
DownCamera_drawGrid_checkBox.DataBindings.Add("Checked", downSettings, "Draw1mmGrid", false, DataSourceUpdateMode.OnPropertyChanged);
DownCameraDrawCross_checkBox.DataBindings.Add("Checked", downSettings, "DrawCross", false, DataSourceUpdateMode.OnPropertyChanged);
DownCameraDrawBox_checkBox.DataBindings.Add("Checked", downSettings, "DrawBox", false, DataSourceUpdateMode.OnPropertyChanged);
DownCameraDrawTicks_checkBox.DataBindings.Add("Checked", downSettings, "DrawSidemarks", false, DataSourceUpdateMode.OnPropertyChanged);
DownCamFindCircles_checkBox.DataBindings.Add("Checked", downSettings, "FindCircles", false, DataSourceUpdateMode.OnPropertyChanged);
DownCamFindRectangles_checkBox.DataBindings.Add("Checked", downSettings, "FindRectangles", false, DataSourceUpdateMode.OnPropertyChanged);
DownCam_FindComponents_checkBox.DataBindings.Add("Checked", downSettings, "FindComponent", false, DataSourceUpdateMode.OnPropertyChanged);
DownCamera_FindFiducials_cb.DataBindings.Add("Checked", downSettings, "FindFiducial", false, DataSourceUpdateMode.OnPropertyChanged);
UpCam_DrawCross.DataBindings.Add("Checked", upSettings, "DrawCross", false, DataSourceUpdateMode.OnPropertyChanged);
UpCan_DrawBox.DataBindings.Add("Checked", upSettings, "DrawBox", false, DataSourceUpdateMode.OnPropertyChanged);
UpCam_DrawDashedBox.DataBindings.Add("Checked", upSettings, "DrawDashedCross", false, DataSourceUpdateMode.OnPropertyChanged);
UpCam_FindCircles.DataBindings.Add("Checked", upSettings, "FindCircles", false, DataSourceUpdateMode.OnPropertyChanged);
UpCam_FindComponents.DataBindings.Add("Checked", upSettings, "FindComponent", false, DataSourceUpdateMode.OnPropertyChanged);
UpCam_FindRectangles.DataBindings.Add("Checked", upSettings, "FindRectangles", false, DataSourceUpdateMode.OnPropertyChanged);
//start video capture
upVideoCapture = new VideoCapture(CameraType.UpCamera);
upVideoProcessing = new VideoProcessing(upVideoCapture, upSettings);
upVideoCapture.FrameCaptureDelegates.Add(UpCameraVideoProcessingCallback);
upVideoProcessing.SetFunctionsList("");
downVideoCapture = new VideoCapture(CameraType.DownCamera);
downVideoProcessing = new VideoProcessing(downVideoCapture, downSettings);
downVideoCapture.FrameCaptureDelegates.Add(DownCameraVideoProcessingCallback);
downVideoProcessing.SetFunctionsList("");
//fill combobox // todo - restore from defaults
UpCamera_FilterSet.DataSource = new BindingSource { DataSource = upSet.GetNames() };
DownCamera_FilterSet.DataSource = new BindingSource { DataSource = downSet.GetNames() };
var videoSources = VideoCapture.GetVideoDeviceList();
UpCam_ComboBox.DataSource = new BindingSource { DataSource = videoSources};
DownCam_ComboBox.DataSource = new BindingSource { DataSource = videoSources};
//load saved values
var s = Properties.Settings.Default;
if (s.UpCam_index != s.DownCam_index) {
if (s.DownCam_index > 0 && s.DownCam_index <= videoSources.Count) {
DownCam_ComboBox.SelectedIndex = s.DownCam_index-1;
downVideoCapture.Start(DownCam_ComboBox.SelectedIndex);
}
if (s.UpCam_index > 0 && s.UpCam_index <= videoSources.Count) {
UpCam_ComboBox.SelectedIndex = s.UpCam_index-1;
upVideoCapture.Start(UpCam_ComboBox.SelectedIndex);
}
}
//right click context menu
ContextMenu cms = new System.Windows.Forms.ContextMenu();
var i = Global.Instance;
cms.MenuItems.Add(new MenuItem("Needle To Table (Probe) And Back", delegate { var x = i.cnc.XYLocation; if (i.needle.Move_m(x) && i.needle.ProbeDown() && i.cnc.Zup() && i.cnc.CNC_XY(x)) { }; }));
cms.MenuItems.Add(new MenuItem("Move To Closest Circle", delegate { i.mainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 5, .1); }));
DownCamera_PictureBox.ContextMenu = cms;
//bind editor values
uFilter_dataGridView.DataSource = currentUpBinding;
dFilter_dataGridView.DataSource = currentDownBinding;
methodDataGridViewTextBoxColumn.DataSource = Enum.GetValues(typeof(AForgeMethod));
methodDataGridViewTextBoxColumn1.DataSource = Enum.GetValues(typeof(AForgeMethod));
//monitor frame rate
FPStimer.Elapsed += delegate { UpdateFPS();};
FPStimer.Start();
}
/// <summary>
/// Will use default settings for finding the template
/// </summary>
/// <param name="image">the image to search</param>
/// <returns>list of fiducary points</returns>
public static List <Shapes.Fiducal> FindTemplates(VideoProcessing vp, string template = null, double threshold = -1)
{
template = template ?? Settings.Default.template_file;
threshold = (threshold == -1) ? Settings.Default.template_threshold : threshold;
return(FindTemplates(vp, vp.GetMeasurementFrame(), template, threshold));
}
public CameraView()
{
InitializeComponent();
//call this function when closing
//this.Closing +=new CancelEventHandler(Cleanup); //this is depreciated
this.FormClosing += new FormClosingEventHandler(CameraView_FormClosing); //do not allow the cameraview to be closed by itself
//setup key handeling
KeyPreview = true;
Global.Instance.mainForm.SetupCursorNavigation(Controls);
KeyUp += Global.Instance.mainForm.My_KeyUp;
//setup video processing
// load the different filter blocks
upSet = new AForgeFunctionSet("UP");
downSet = new AForgeFunctionSet("DOWN");
HideFilters(); //start hidden
//Setup Checkbox Bindings
DownCamera_drawGrid_checkBox.DataBindings.Add("Checked", downSettings, "Draw1mmGrid", false, DataSourceUpdateMode.OnPropertyChanged);
DownCameraDrawCross_checkBox.DataBindings.Add("Checked", downSettings, "DrawCross", false, DataSourceUpdateMode.OnPropertyChanged);
DownCameraDrawBox_checkBox.DataBindings.Add("Checked", downSettings, "DrawBox", false, DataSourceUpdateMode.OnPropertyChanged);
DownCameraDrawTicks_checkBox.DataBindings.Add("Checked", downSettings, "DrawSidemarks", false, DataSourceUpdateMode.OnPropertyChanged);
DownCamFindCircles_checkBox.DataBindings.Add("Checked", downSettings, "FindCircles", false, DataSourceUpdateMode.OnPropertyChanged);
DownCamFindRectangles_checkBox.DataBindings.Add("Checked", downSettings, "FindRectangles", false, DataSourceUpdateMode.OnPropertyChanged);
DownCam_FindComponents_checkBox.DataBindings.Add("Checked", downSettings, "FindComponent", false, DataSourceUpdateMode.OnPropertyChanged);
DownCamera_FindFiducials_cb.DataBindings.Add("Checked", downSettings, "FindFiducial", false, DataSourceUpdateMode.OnPropertyChanged);
UpCam_DrawCross.DataBindings.Add("Checked", upSettings, "DrawCross", false, DataSourceUpdateMode.OnPropertyChanged);
UpCan_DrawBox.DataBindings.Add("Checked", upSettings, "DrawBox", false, DataSourceUpdateMode.OnPropertyChanged);
UpCam_DrawDashedBox.DataBindings.Add("Checked", upSettings, "DrawDashedCross", false, DataSourceUpdateMode.OnPropertyChanged);
UpCam_FindCircles.DataBindings.Add("Checked", upSettings, "FindCircles", false, DataSourceUpdateMode.OnPropertyChanged);
UpCam_FindComponents.DataBindings.Add("Checked", upSettings, "FindComponent", false, DataSourceUpdateMode.OnPropertyChanged);
UpCam_FindRectangles.DataBindings.Add("Checked", upSettings, "FindRectangles", false, DataSourceUpdateMode.OnPropertyChanged);
//start video capture
upVideoCapture = new VideoCapture(CameraType.UpCamera);
upVideoProcessing = new VideoProcessing(upVideoCapture, upSettings);
upVideoCapture.FrameCaptureDelegates.Add(UpCameraVideoProcessingCallback);
upVideoProcessing.SetFunctionsList("");
downVideoCapture = new VideoCapture(CameraType.DownCamera);
downVideoProcessing = new VideoProcessing(downVideoCapture, downSettings);
downVideoCapture.FrameCaptureDelegates.Add(DownCameraVideoProcessingCallback);
downVideoProcessing.SetFunctionsList("");
//fill combobox // todo - restore from defaults
UpCamera_FilterSet.DataSource = new BindingSource {
DataSource = upSet.GetNames()
};
DownCamera_FilterSet.DataSource = new BindingSource {
DataSource = downSet.GetNames()
};
var videoSources = VideoCapture.GetVideoDeviceList();
UpCam_ComboBox.DataSource = new BindingSource {
DataSource = videoSources
};
DownCam_ComboBox.DataSource = new BindingSource {
DataSource = videoSources
};
//load saved values
var s = Properties.Settings.Default;
if (s.UpCam_index != s.DownCam_index)
{
if (s.DownCam_index > 0 && s.DownCam_index <= videoSources.Count + 1)
{
DownCam_ComboBox.SelectedIndex = s.DownCam_index - 1;
downVideoCapture.Start(DownCam_ComboBox.SelectedIndex);
}
if (s.UpCam_index > 0 && s.UpCam_index <= videoSources.Count + 1)
{
UpCam_ComboBox.SelectedIndex = s.UpCam_index - 1;
upVideoCapture.Start(UpCam_ComboBox.SelectedIndex);
}
}
//right click context menu
ContextMenu cms = new System.Windows.Forms.ContextMenu();
var i = Global.Instance;
cms.MenuItems.Add(new MenuItem("Needle To Table (Probe) And Back", delegate { var x = i.cnc.XYLocation; if (i.needle.Move_m(x) && i.needle.ProbeDown() && i.cnc.Zup() && i.cnc.CNC_XY(x))
{
}
; }));
cms.MenuItems.Add(new MenuItem("Move To Closest Circle", delegate { i.mainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 5, .1); }));
DownCamera_PictureBox.ContextMenu = cms;
//bind editor values
uFilter_dataGridView.DataSource = currentUpBinding;
dFilter_dataGridView.DataSource = currentDownBinding;
methodDataGridViewTextBoxColumn.DataSource = Enum.GetValues(typeof(AForgeMethod));
methodDataGridViewTextBoxColumn1.DataSource = Enum.GetValues(typeof(AForgeMethod));
//monitor frame rate
FPStimer.Elapsed += delegate { UpdateFPS(); };
FPStimer.Start();
}
public static PartLocation Convert(VideoProcessing videoProcessing, PartLocation p, PointMode fromMode, PointMode toMode)
{
Thing t = new Thing(p, fromMode);
t.videoProcessing = videoProcessing;
switch (toMode) {
case PointMode.MM: return t.ToMMResolution().ToPartLocation();
case PointMode.Raw: return t.ToRawResolution().ToPartLocation();
case PointMode.Screen: return t.ToScreenResolution().ToPartLocation();
case PointMode.ScreenUnzoomed: return t.ToScreenUnzoomedResolution().ToPartLocation();
}
return null;
}