private void AssignToolResult(string parent, CogBlobResults blobResults)
{
CogBlobResultCollection blobResultColl = blobResults.GetBlobs(false);
int count = blobResultColl.Count;
AddResult(string.Format("{0}.Count", parent), blobResultColl.Count);
double areaX = 0.0;
double areaY = 0.0;
double totalArea = 0.0;
for (int i = 0; i < count; i++)
{
CogBlobResult blobResult = blobResultColl[i];
double x = blobResult.CenterOfMassX;
double y = blobResult.CenterOfMassY;
double area = blobResult.Area;
totalArea += area;
areaX += x * area;
areaY += y * area;
AddResult(string.Format("{0}[{1}].Area", parent, i), area);
AddResult(string.Format("{0}[{1}].CenterOfMassX", parent, i), x);
AddResult(string.Format("{0}[{1}].CenterOfMassY", parent, i), y);
AddResult(string.Format("{0}[{1}].Angle", parent, i), blobResult.Angle);
}
AddResult(string.Format("{0}[+].Area", parent), totalArea);
AddResult(string.Format("{0}[A].CenterOfMassX", parent), totalArea > 0 ? areaX / totalArea : 0.0);
AddResult(string.Format("{0}[A].CenterOfMassY", parent), totalArea > 0 ? areaY / totalArea : 0.0);
}
//toolNum和Pattern两个参数决定结果的来源
//Blob工具的结果获取函数
private bool getBlobToolResult(out double[] item_x, out double[] item_y, out int item_number, int toolNum)
{
CogBlobTool blobTool = null;
item_x = null;
item_y = null;
item_number = 0;
switch (toolNum)
{
case 1:
blobTool = blobTool_1;
break;
case 2:
blobTool = blobTool_2;
break;
case 3:
blobTool = blobTool_3;
break;
default:
return(false);
}
if (blobTool.Results == null)
{
return(false);
}
CogBlobResultCollection blobResult = blobTool.Results.GetBlobs();
if (blobResult == null)
{
return(false);
}
item_number = blobResult.Count;
if (item_number <= 0)
{
item_x = new double[0];
item_y = new double[0];
return(false);
}
item_x = new double[item_number];
item_y = new double[item_number];
for (int i = 0; i < item_number; i++)
{
item_x[i] = blobResult[i].CenterOfMassX;
item_y[i] = blobResult[i].CenterOfMassY;
}
return(true);
}
/// <summary>
/// Do a run on current displayed Image
/// </summary>
public bool RunToolBlock(int cameraModule)
{
bool runStatus = true;
String colResult;
CogToolResultConstants toolColResult;
int i;
if (this.cogToolRun[cameraModule] != null)
{
this.cogToolRun[cameraModule].Inputs["InputImage"].Value = grabImage[cameraModule] as CogImage8Grey;
this.cogToolRun[cameraModule].Run();
ICogRunStatus cogStatus = this.cogToolRun[cameraModule].RunStatus;
if (cogStatus.Result == CogToolResultConstants.Error)
{
runStatus = false;
// error default all to invalid
for (i = 0; i < MAX_RESULT; i++)
{
this.inspectResult[cameraModule, i] = HGAStatus.Unknown;
}
}
else
{
double[] blob = { 0, 0, 0, 0, 0, 0 };
double[] centerofmass_X = { 0, 0, 0, 0, 0, 0 };
CommonCogToolBlock = (CogBlobTool)this.cogToolRun[cameraModule].Tools["blobtool"];
CogBlobResultCollection resultcollection = CommonCogToolBlock.Results.GetBlobs();
for (int x = 0; x < resultcollection.Count; x++)
{
blob[x] = resultcollection[x].Area;
centerofmass_X[x] = resultcollection[x].CenterOfMassX;
}
}
}
else
{
runStatus = false;
}
return(runStatus);
}
//#region "when the tool group is run"
// The GroupRun function is called when the tool group is run. The default
// implementation provided here is equivalent to the normal behavior of the
// tool group. Modifying this function will allow you to change the behavior
// when the tool group is run.
public override bool GroupRun(ref string message, ref CogToolResultConstants result)
{
// To let the execution stop in this script when a debugger is attached, uncomment the following lines.
#if DEBUG
if (System.Diagnostics.Debugger.IsAttached)
{
System.Diagnostics.Debugger.Break();
}
#endif
histCntr = 0;
CogGraphicLabel myBaslerLabel = new CogGraphicLabel();
CogGraphicLabel myFlirLabel = new CogGraphicLabel();
CogPointMarker baslerMarker; //= new CogPointMarker();
double blobAngle = 0;
double blobAngleRadians = 0;
//Get references to the tools
CogBlobTool blobBaslerTool = (CogBlobTool)toolGroup.Tools["FindWrappersInBasler"];
CogBlobTool blobFlirTool = (CogBlobTool)toolGroup.Tools["PopsicleBlobFinder"];
CogHistogramTool popsicleHistTool = (CogHistogramTool)toolGroup.Tools["PopsicleHistogramTool"];
//Define the regions
CogRectangleAffine popsicleRegion = blobFlirTool.Region as CogRectangleAffine;
CogRectangleAffine histogramRegion = blobFlirTool.Region as CogRectangleAffine;
//Define the fonts
System.Drawing.Font myBaslerFont = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
System.Drawing.Font myFlirFont = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
//Reset stats
angleFailures = 0;
thermalFailures = 0;
//Reset any labels and rectangles from previous runs
BaslerLabels.Clear();
FlirLabels.Clear();
FlirRectangles.Clear();
//***** Run the tools to perform the search in the basler image *****
//Update status strings for Visual Studio. Do not popup a message box for errors, this causes confusion with the operators.
toolGroup.SetScriptTerminalData("BaslerStatus", "OK");
toolGroup.SetScriptTerminalData("FlirStatus", "OK");
bool acquireException = false;
try
{
//Aquire an image from the Basler, send Exception to Visual Studio
toolGroup.RunTool(toolGroup.Tools["BaslerAcqFifo"], ref message, ref result);
}
catch (Exception ex)
{
toolGroup.SetScriptTerminalData("BaslerStatus", "Script Error: " + ex.Message + " Check power connections and communication cables.");
acquireException = true;
}
try
{
//Aquire an image from the Flir, send Exception to Visual Studio
toolGroup.RunTool(toolGroup.Tools["FlirAcqFifo"], ref message, ref result);
}
catch (Exception ex)
{
toolGroup.SetScriptTerminalData("FlirStatus", "Script Error: " + ex.Message + " Check power connections and communication cables.");
acquireException = true;
}
if (acquireException)
{
return(false);
}
try
{
// Scale the Flir image to zoom in to smaller temperature range
toolGroup.RunTool(toolGroup.Tools["ScaleFlirImagePmap"], ref message, ref result);
}
catch (Exception ex)
{
toolGroup.SetScriptTerminalData("FlirStatus", "Script Error: " + ex.Message + " Failed: ScaleFlirImagePmap");
return(false);
}
try
{
// Transform the images to calibrated space
toolGroup.RunTool(toolGroup.Tools["CalBasler"], ref message, ref result);
toolGroup.RunTool(toolGroup.Tools["CalFlir"], ref message, ref result);
}
catch (Exception ex)
{
//MessageBox.Show("Calibration tool error: " + ex.Message, "Script Exception");
toolGroup.SetScriptTerminalData("BaslerStatus", "Script Error: " + ex.Message + " Failed: CalBasler");
toolGroup.SetScriptTerminalData("FlirStatus", "Script Error: " + ex.Message + " Failed: CalFlir");
return(false);
}
try
{
toolGroup.RunTool(toolGroup.Tools["CogPixelMapBasler"], ref message, ref result);
}
catch (Exception ex)
{
toolGroup.SetScriptTerminalData("BaslerStatus", "Script Error: " + ex.Message + " Failed: CogPixelMapBasler");
return(false);
}
try
{
toolGroup.RunTool(toolGroup.Tools["CogIPOneImageTool1"], ref message, ref result);
}
catch (Exception ex)
{
toolGroup.SetScriptTerminalData("BaslerStatus", "Script Error: " + ex.Message + " Failed: CogIPOneImageTool1");
return(false);
}
try
{
// Run the Flir hist tool
toolGroup.RunTool(toolGroup.Tools["PopsicleHistogramTool"], ref message, ref result);
}
catch (Exception ex)
{
toolGroup.SetScriptTerminalData("FlirStatus", "Script Error: " + ex.Message + " Failed: PopsicleHistogramTool");
return(false);
}
try
{
// Run the blob tool and get a reference to the results.
toolGroup.RunTool(blobBaslerTool, ref message, ref result);
}
catch (Exception ex)
{
toolGroup.SetScriptTerminalData("BaslerStatus", "Script Error: " + ex.Message + " Failed: Basler blobBaslerTool");
return(false);
}
CogBlobResultCollection blobResults = blobBaslerTool.Results.GetBlobs();
// Clear list before starting loop
malBlobPoses.Clear();
Crosshairs.Clear();
// Get group input terminal data
try
{
disableHist = (bool)toolGroup.GetScriptTerminalData("DisableHistogramInspection");
minPickAngle = (double)toolGroup.GetScriptTerminalData("MinPickAngle");
maxPickAngle = (double)toolGroup.GetScriptTerminalData("MaxPickAngle");
minPopsicleHistCount = (double)toolGroup.GetScriptTerminalData("MinPopsicleHistCount");
VisStudio_Running = (bool)toolGroup.GetScriptTerminalData("VS_Running");
showArea = (bool)toolGroup.GetScriptTerminalData("ShowArea");
showHist = (bool)toolGroup.GetScriptTerminalData("ShowHistCount");
visSideXLength = (double)toolGroup.GetScriptTerminalData("VisSideXLength");
visSideYLength = (double)toolGroup.GetScriptTerminalData("VisSideYLength");
visFlirRegionXadj = (double)toolGroup.GetScriptTerminalData("VisFlirRegionXadj");
visFlirRegionYadj = (double)toolGroup.GetScriptTerminalData("VisFlirRegionYadj");
}
catch (Exception ex)
{
//MessageBox.Show("Getting terminal data exception: ", ex.Message);
toolGroup.SetScriptTerminalData("BaslerStatus", "Getting script data: " + ex.Message);
}
// Set run variables for manual triggering
if (!VisStudio_Running)
{
minPopsicleHistCount = 0;
minPickAngle = -20;
maxPickAngle = 20;
showArea = true;
showHist = true;
visSideXLength = 200;
visSideYLength = 70;
visFlirRegionXadj = 0;
visFlirRegionYadj = 0;
}
// ***************************************
// ******** Process the blobs *********
// ***************************************
try
{
foreach (CogBlobResult blob in blobResults)
{
// Set the transform for collections
CogTransform2DLinear l2d = new CogTransform2DLinear();
l2d.TranslationX = blob.GetBoundingBoxAtAngle(blob.Angle).CenterX;
l2d.TranslationY = blob.GetBoundingBoxAtAngle(blob.Angle).CenterY;
l2d.Rotation = blob.Angle;
blobAngleRadians = blob.Angle;
// Crosshair setup for the Basler
baslerMarker = new CogPointMarker();
baslerMarker.X = l2d.TranslationX;
baslerMarker.Y = l2d.TranslationY;
baslerMarker.Color = CogColorConstants.Green;
baslerMarker.GraphicType = CogPointMarkerGraphicTypeConstants.Crosshair;
// Flir region
CogRectangleAffine myFlirRegion = new CogRectangleAffine();
myFlirRegion.CenterX = l2d.TranslationX + visFlirRegionXadj;
myFlirRegion.CenterY = l2d.TranslationY + visFlirRegionYadj;
myFlirRegion.Rotation = l2d.Rotation;
myFlirRegion.SideXLength = visSideXLength;
myFlirRegion.SideYLength = visSideYLength;
blobFlirTool.Region = myFlirRegion;
toolGroup.RunTool(blobFlirTool, ref message, ref result);
popsicleHistTool.Region = myFlirRegion;
toolGroup.RunTool(popsicleHistTool, ref message, ref result);
// Get the histogram results from the bin
binHist = popsicleHistTool.Result.GetHistogram();
// Count total pixels
histCntr = 1;
for (int i = 0; i < blobFlirTool.RunParams.SegmentationParams.HardFixedThreshold; i++)
{
histCntr = histCntr + binHist[i];
}
myBaslerLabel = new CogGraphicLabel();
myBaslerLabel.SetXYText(0, 0, "");
myFlirLabel = new CogGraphicLabel();
myBaslerLabel.Font = new System.Drawing.Font("Microsoft Sans Serif", 14F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
myFlirLabel.Font = new System.Drawing.Font("Microsoft Sans Serif", 14F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
myFlirRegion.Visible = true;
myBaslerLabel.Alignment = CogGraphicLabelAlignmentConstants.BaselineCenter;
myFlirLabel.Alignment = CogGraphicLabelAlignmentConstants.BaselineCenter;
// Decide to add the popsicle blob to the collection list
if ((histCntr < minPopsicleHistCount) && (!disableHist))
{
myBaslerLabel.Color = CogColorConstants.Red;
myFlirRegion.Color = CogColorConstants.Red;
// Show the hist count in the Flir image
myFlirLabel.Color = CogColorConstants.Red;
if (showHist)
{
myFlirLabel.SetXYText(blob.CenterOfMassX, blob.CenterOfMassY, "Size: " + histCntr.ToString());
}
thermalFailures++;
}
else
{
myBaslerLabel.Color = CogColorConstants.Green;
// If histogram check is disabled, draw rectangle in yellow, else green
if (disableHist)
{
myFlirLabel.Color = CogColorConstants.Red;
myFlirRegion.Color = CogColorConstants.Yellow;
}
else
{
myFlirLabel.Color = CogColorConstants.Green;
myFlirRegion.Color = CogColorConstants.Green;
}
if (showHist)
{
myFlirLabel.SetXYText(blob.CenterOfMassX, blob.CenterOfMassY, "Size: " + histCntr.ToString());
}
// Convert blob angle to degrees
blobAngle = blob.Angle * 180 / Math.PI;
if ((blobAngle > (double)minPickAngle) && (blobAngle < (double)maxPickAngle))
{
malBlobPoses.Add(l2d);
if (showArea)
{
myBaslerLabel.Color = CogColorConstants.Green;
myBaslerLabel.SetXYText(l2d.TranslationX, l2d.TranslationY - 15, "Size: " + blob.Area.ToString("0"));
}
}
else
{
myBaslerLabel.Color = CogColorConstants.Red;
myBaslerLabel.SetXYText(l2d.TranslationX, l2d.TranslationY, "Angle: " + blobAngle.ToString("0"));
myFlirLabel.Color = CogColorConstants.Red;
myFlirRegion.Color = CogColorConstants.Red;
angleFailures++;
}
}
myBaslerLabel.Rotation = blobAngleRadians;
BaslerLabels.Add(myBaslerLabel);
FlirLabels.Add(myFlirLabel);
FlirRectangles.Add(myFlirRegion);
Crosshairs.Add(baslerMarker);
// Update group output terminals
toolGroup.SetScriptTerminalData("AngleFailures", angleFailures);
toolGroup.SetScriptTerminalData("ThermalFailures", thermalFailures);
toolGroup.SetScriptTerminalData("BlobCollection", malBlobPoses);
}
}
catch (Exception ex)
{
toolGroup.SetScriptTerminalData("BaslerStatus", "Script Error during blob processing: " + ex.Message);
malBlobPoses.Clear(); // Clear positional data for this frame
}
// Returning False indicates we ran the tools in script, and they should not be
// run by VisionPro
return(false);
}
private bool getBlobBoundary(out double[] pos_x, out double[] pos_y, out int pos_number, int toolNum, int index)
{
CogBlobTool blobTool = null;
pos_x = null;
pos_y = null;
pos_number = 0;
switch (toolNum)
{
case 1:
blobTool = blobTool_1;
break;
case 2:
blobTool = blobTool_2;
break;
case 3:
blobTool = blobTool_3;
break;
default:
return(false);
}
if (blobTool.Results == null)
{
return(false);
}
CogBlobResultCollection blobResult = blobTool.Results.GetBlobs();
if (blobResult == null)
{
return(false);
}
int number = blobResult.Count;
if (index >= number || index < 0)
{
return(false);
}
CogPolygon blobBoundary = blobResult[index].GetBoundary();
int verticesNum = blobBoundary.NumVertices;
pos_x = new double[verticesNum];
pos_y = new double[verticesNum];
for (int i = 0; i < verticesNum; i++)
{
pos_x[i] = blobBoundary.GetVertexX(i);
pos_y[i] = blobBoundary.GetVertexY(i);
}
pos_number = verticesNum;
return(true);
}
