public override bool doLocal()
{
try
{
NowResult = new LocalResult();
St_CirclesParam CirclesParam = new St_CirclesParam(2);
CirclesParam = NowVisionPara.Circles;
HTuple CircleRows = new HTuple(), CircleCols = new HTuple(), CircleRs = new HTuple(), StartPhis = new HTuple(), EndPhis = new HTuple();
HObject CircleContour = new HObject(), CircleCont = new HObject(), CenterCross = new HObject();
//找出要找的圆
CircleTypePos.FindCircle(NowImg, CirclesParam, out CircleRows, out CircleCols, out CircleRs, out StartPhis, out EndPhis,
out CircleContour, out CircleCont, out CenterCross);
HOperatorSet.ConcatObj(CircleContour, CircleCont, out CircleContour);
HOperatorSet.ConcatObj(CircleContour, CenterCross, out CircleContour);
CircleCont.Dispose();
CenterCross.Dispose();
NowResult.ShowContour = CircleContour;
NowResult.row = (CircleRows[0].D + CircleCols[1].D) / 2.0;
NowResult.col = (CircleCols[0].D + CircleCols[1].D) / 2.0;
HTuple angle = new HTuple();
HOperatorSet.AngleLx(CircleRows[0], CircleCols[0], CircleRows[1], CircleCols[1], out angle);
NowResult.angle = angle.D;
return(true);
}
catch
{
return(false);
}
}
private void TryDebugBtn_Click(object sender, EventArgs e)
{
Stopwatch sw = new Stopwatch();
sw.Start();
try{
#region
Point2Db MotionPos = new Point2Db(0, 0);
HObject CirContour = new HObject();
HObject circle = new HObject();
HObject centerCont = new HObject();
//模板的VectorAngle
double TempTeachRow = LocalPara0.Template.CenterY;
double TempTeachCol = LocalPara0.Template.CenterX;
double TempTeachAngle = LocalPara0.Template.TemplateAngle;
view1.Refresh();
HTuple Y = new HTuple(), X = new HTuple();
//找出要定位的的圆
St_CirclesParam AdjCirclePara = new St_CirclesParam(2);
St_VectorAngle VectorAngle0 = new St_VectorAngle(LocalPara0.Template.CenterY, LocalPara0.Template.CenterX,
LocalPara0.Template.TemplateAngle);
HTuple CircleStartPhi = new HTuple(), CircleEndPhi = new HTuple();
CircleTypePos.FindCircle(GrabedImg, AdjCirclePara, out Y, out X, out FindCircleR, out CircleStartPhi,
out CircleEndPhi, out circle, out CirContour, out centerCont);
FindCircleRow = Y;
FindCircleCol = X;
view1.AddImage(GrabedImg);
Thread.Sleep(100);
view1.SetDraw("green", "margin");
view1.AddViewObject(circle);
view1.SetDraw("blue", "margin");
view1.AddViewObject(CirContour);
view1.SetDraw("red", "margin");
view1.AddViewObject(centerCont);
HObject CirCenterCross = new HObject();
HOperatorSet.GenCrossContourXld(out CirCenterCross, Y, X, 120, 0.6);
view1.AddViewObject(CirCenterCross);
#endregion
}
catch (Exception e0) {
Logger.PopError(e0.Message.ToString(), true);
}
}
private void GenVirtualBtn_Click(object sender, EventArgs e)
{
TryDebugBtn_Click(null, new EventArgs());
if (FindCircleRow.Length >= 2 && FindCircleCol.Length >= 2)
{
HTuple OutLineRow1 = new HTuple(), OutLineCol1 = new HTuple(), OutLineRow2 = new HTuple(), OutLineCol2 = new HTuple();
view1.ResetView();
view1.AddImage(GrabedImg);
//1.0找线
TryDebugBtn_Click(null, new EventArgs());
HTuple LineAngle = new HTuple();
HObject LineArrow = new HObject();
HObject LitCirCross = new HObject();
//2.0计算圆心连线与相机X轴的夹角
OutLineRow1 = FindCircleRow[0].D;
OutLineCol1 = FindCircleCol[0].D;
OutLineRow2 = FindCircleRow[1].D;
OutLineCol2 = FindCircleCol[1].D;
LineTypePos.CalculateLineAng(OutLineRow1, OutLineCol1, OutLineRow2, OutLineCol2, out LineAngle, out LineArrow);
LineAngle = LineAngle.D / Math.PI * 180.0;
HTuple LitCirRow = new HTuple(), LitCircol = new HTuple();
HTuple DistRr = (7.78 / 2.0) / 2.8 * FindCircleR[0].D;
//3.0生成虚拟圆的圆心
CircleTypePos.GenCirCenter(FindCircleRow[0].D, FindCircleCol[0].D, DistRr, out LitCirRow, out LitCircol);
HOperatorSet.GenCrossContourXld(out LitCirCross, LitCirRow, LitCircol, 60, 0);
view1.SetDraw("blue", "margin");
view1.AddViewObject(LineArrow);
view1.AddViewObject(LitCirCross);
HHomMat2D MyHomMat = new HHomMat2D();
MyHomMat = MyHomMat.HomMat2dRotate((TeachCirclePara.OffSetPixelTh + LineAngle) / 180.0 * Math.PI, FindCircleRow[0], FindCircleCol[0]);
//4.0旋转生成圆的圆心
MyHomMat.AffineTransPixel(LitCirRow, LitCircol, out LitCirRow, out LitCircol);
HOperatorSet.GenCrossContourXld(out LitCirCross, LitCirRow, LitCircol, 60, 0);
HObject FirstCirCont = new HObject(), SecondCirCont = new HObject();
HOperatorSet.GenCircleContourXld(out FirstCirCont, LitCirRow[0].D, LitCircol[0].D, 60, 0, 2 * Math.PI, "positive", 0.1);
HOperatorSet.GenCircleContourXld(out SecondCirCont, LitCirRow[1].D, LitCircol[1].D, 40, 0, 2 * Math.PI, "positive", 0.1);
HOperatorSet.ConcatObj(LitCirCross, FirstCirCont, out LitCirCross);
HOperatorSet.ConcatObj(LitCirCross, SecondCirCont, out LitCirCross);
view1.SetDraw("red", "margin");
view1.AddViewObject(LitCirCross);
}
}
public override bool doLocal()
{
try
{
NowResult = new LocalResult();
St_LinesParam LinesPara = new St_LinesParam(2);
LinesPara = NowVisionPara.Lines;
HTuple LineRow1 = new HTuple(), LineCol1 = new HTuple(), LineRow2 = new HTuple(), LineCol2 = new HTuple();
HObject LinesContour = new HObject(), LinePtCont = new HObject();
//找出所有的直线
LineTypePos.FindLine(LinesPara, NowImg, out LineRow1, out LineCol1, out LineRow2, out LineCol2, out LinesContour, out LinePtCont);
St_CirclesParam CirclesParam = new St_CirclesParam(2);
CirclesParam = NowVisionPara.Circles;
HTuple CircleRows = new HTuple(), CircleCols = new HTuple(), CircleRs = new HTuple(), StartPhis = new HTuple(), EndPhis = new HTuple();
HObject CircleContour = new HObject(), CircleCont = new HObject(), CenterCross = new HObject();
HTuple angle;
//图像坐标轴X轴到直线1的角度
HOperatorSet.AngleLx(LineRow1[0], LineCol1[0], LineRow2[0], LineCol2[0], out angle);
//找出要找的圆
CircleTypePos.FindCircle(NowImg, CirclesParam, out CircleRows, out CircleCols, out CircleRs, out StartPhis, out EndPhis,
out CircleContour, out CircleCont, out CenterCross);
HOperatorSet.ConcatObj(CircleContour, CircleCont, out CircleContour);
HOperatorSet.ConcatObj(CircleContour, CenterCross, out CircleContour);
CircleCont.Dispose();
CenterCross.Dispose();
HOperatorSet.ConcatObj(CircleContour, LinesContour, out CircleContour);
HOperatorSet.ConcatObj(CircleContour, LinePtCont, out CircleContour);
LinesContour.Dispose();
LinePtCont.Dispose();
NowResult.row = CircleRows[0].D;
NowResult.col = CircleCols[0].D;
NowResult.angle = angle.D;
NowResult.ShowContour = CircleContour;
return(true);
}
catch
{ return(false); }
}
private void FindCircleBtn_Click(object sender, EventArgs e)
{
try{
Stopwatch sw = new Stopwatch();
sw.Start();
txtFindTime.Text = "";
#region
view1.Refresh();
HTuple CircleRows = new HTuple(), CircleCols = new HTuple();
HObject RoiContour = new HObject();
HTuple ResultRows = new HTuple(), ResultCols = new HTuple(), ArcType0 = new HTuple();
view1.AddImage(GrabedImg);
HTuple FitCirRows = new HTuple(), FitCirCols = new HTuple(), FitCirRs = new HTuple(), CirStartPhis = new HTuple(), CirEndPhi = new HTuple();
for (int i = 0; i < TeachCirclePara.CenterRows.Count; i++)
{
//利用存下来的圆的信息，创建圆的边缘点坐标
MyVisionBase.GenCirclePts2(TeachCirclePara.CenterRows[i], TeachCirclePara.CenterCols[i], TeachCirclePara.CircleRs[i],
TeachCirclePara.StartPhis[i], TeachCirclePara.EndPhis[i], TeachCirclePara.PointOrders[i], out CircleRows, out CircleCols);
HObject CrossContour = new HObject();
HOperatorSet.GenCrossContourXld(out CrossContour, CircleRows, CircleCols, 6, 0.6);
view1.SetDraw("blue", "margin");
view1.AddViewObject(CrossContour);
//生成圆的边缘ROI
MyVisionBase.gen_spoke_ROI(GrabedImg, out RoiContour, TeachCirclePara.Elements[i], TeachCirclePara.DetectHeights[i],
2, CircleRows, CircleCols, TeachCirclePara.Directs[i]);
view1.AddViewObject(RoiContour);
//3.0找出圆的边缘点
MyVisionBase.spoke(GrabedImg, out RoiContour, view1, TeachCirclePara.Elements[i], TeachCirclePara.DetectHeights[i],
2, 2, TeachCirclePara.Thresholds[i], "all", "first", CircleRows, CircleCols, TeachCirclePara.Directs[i],
out ResultRows, out ResultCols, out ArcType0);
HObject CirclePtCross = new HObject();
//2.5显示拟合的点
HOperatorSet.GenCrossContourXld(out CirclePtCross, ResultRows, ResultCols, 12, 0.7);
if (ResultRows.Length > i && ResultCols.Length > i)
{
FitCirRows[i] = ResultRows.D;
FitCirCols[i] = ResultCols.D;
}
view1.SetDraw("green", "margin");
view1.AddViewObject(CirclePtCross);
txtFindTime.Text = sw.ElapsedMilliseconds.ToString();
}
HObject CircleCont = new HObject(), CirContour = new HObject(), CirCross = new HObject();
CircleTypePos.FindCircle(GrabedImg, TeachCirclePara, out FitCirRows, out FitCirCols, out FitCirRs,
out CirStartPhis, out CirEndPhi, out CircleCont, out CirContour, out CirCross);
this.view1.SetDraw("red", "margin");
this.view1.AddViewObject(CircleCont);
this.view1.Repaint();
HTuple PlDist = new HTuple(), DistPp = new HTuple(), DistPp1 = new HTuple();
if (FitCirRows.Length >= 3 && FitCirCols.Length >= 3)
{
HOperatorSet.DistancePl(FitCirRows[2].D, FitCirCols[2].D, FitCirRows[0].D, FitCirCols[0].D, FitCirRows[1].D, FitCirCols[1].D, out PlDist);
HOperatorSet.DistancePp(FitCirRows[0].D, FitCirCols[0].D, FitCirRows[1].D, FitCirCols[1].D, out DistPp);
HOperatorSet.DistancePp(FitCirRows[0].D, FitCirCols[0].D, FitCirRows[2].D, FitCirCols[2].D, out DistPp1);
PlDist = 3.2 * 3.0 / DistPp.D * DistPp1.D;
txtFindTime.Text = PlDist.D.ToString();
}
#endregion
}
catch (Exception e0) {
Logger.PopError(e0.Message.ToString(), true);
}
}
