private double DistanceToClosestHandle2(double row, double col)
{
HTuple data = base.GetModeData();
double[] val = new double[_numHandles];
val[0] = HalconDotNet.HMisc.DistancePp(row, col, data[0], data[1]);
for (int i = 1; i < _numHandles; i++)
{
val[i] = 99999;
}
HHomMat2D mat2D = new HHomMat2D();
HTuple init_Arrow_Row = data[0];
HTuple init_Arrow_Col = data[1] + data[3] * 0.8;
mat2D = mat2D.HomMat2dRotate(data[2].D, data[0], data[1]);
double arrow_Row;
double arrow_Col;
arrow_Row = mat2D.AffineTransPoint2d(init_Arrow_Row, init_Arrow_Col, out arrow_Col);
val[_numHandles - 1] = HalconDotNet.HMisc.DistancePp(row, col, arrow_Row, arrow_Col);
double minvalue = 0.0;
int idx = 0;
if (this.MinValueAndIndex(val, out minvalue, out idx))
{
this._activeHandleIdx = idx;
}
return(minvalue);
}
public void RotateTrans(double x, double y, double r, out double tx, out double ty)
{
HHomMat2D mat2D = new HHomMat2D();
mat2D = mat2D.HomMat2dRotate((HTuple)r, RotateCircle.Center.X, RotateCircle.Center.Y);
HTuple qx, qy;
HOperatorSet.AffineTransPoint2d(mat2D, x, y, out qx, out qy);
tx = qx[0].D;
ty = qy[0].D;
}
public ToolResult GetResult()
{
try
{
int imageWidt, imageHeight;
HMetrologyModel metrologyModel = new HMetrologyModel();
HTuple startRow, startCol, endRow, endCol;
HHomMat2D matd = new HHomMat2D();
HHomMat2D matd3 = matd.HomMat2dRotate(info.Rectangle2Angle, 0.0, 0.0);
HHomMat2D matd4 = matd3.HomMat2dTranslate(info.Rectangle2Row, info.Rectangle2Col);
HOperatorSet.AffineTransPoint2d(matd4, new HTuple(0.0), new HTuple(-info.Rectangle2Length1), out startRow, out startCol);
HOperatorSet.AffineTransPoint2d(matd4, new HTuple(0.0), new HTuple(info.Rectangle2Length1), out endRow, out endCol);
//创建找线工具
Image.GetImageSize(out imageWidt, out imageHeight);
int[] value = new int[] { Convert.ToInt32(startRow.D), Convert.ToInt32(startCol.D), Convert.ToInt32(endRow.D), Convert.ToInt32(endCol.D) };
HTuple values = new HTuple(value);
metrologyModel.CreateMetrologyModel();
metrologyModel.SetMetrologyModelImageSize(imageWidt, imageHeight);
int index = metrologyModel.AddMetrologyObjectGeneric("line", values, 20, 5, 1, 30, "min_score", 0.6);
#region 设置参数
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_length1"), new HTuple(Convert.ToInt32(info.measure_length1)));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_length2"), new HTuple(Convert.ToInt32(info.measure_length2)));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_distance"), new HTuple(info.measure_distance));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("num_measures"), new HTuple(info.num_measures));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("num_instances"), new HTuple(info.num_instances));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_sigma"), new HTuple(info.measure_sigma));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_threshold"), new HTuple(info.measure_threshold));
metrologyModel.SetMetrologyObjectParam(new HTuple(index), new HTuple("measure_transition"), new HTuple(info.measure_transition.ToString()));
#endregion
HTuple Row;
HTuple Col;
HXLDCont modelXLD = metrologyModel.GetMetrologyObjectMeasures(index, "all", out Row, out Col);
if (info.IsShowLineMeasureDetail)
{
Window.SetColor("red");
modelXLD.DispXld(Window.Window);
}
return(ApplyMetrology(metrologyModel, index, info.ToolName));
}
catch (Exception e)
{
return(new ToolResult()
{
ResultName = info.ToolName, Errormessage = e.ToString(), GetResultTime = DateTime.Now, IsSuccess = false
});
}
}
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 HXLDCont GetMatchModelCont(int index)
{
HXLDCont hXLD = GetModelCont();
if (hXLD == null)
{
return(null);
}
HXLDCont cont = null;
if (index < OutputResult.Count)
{
HHomMat2D mat2d = new HHomMat2D();
mat2d = mat2d.HomMat2dScale(OutputResult.Scale[index], OutputResult.Scale[index], 0d, 0d);
mat2d = mat2d.HomMat2dRotate(OutputResult.Angle[index], 0d, 0d);
mat2d = mat2d.HomMat2dTranslate(OutputResult.Row[index].D, OutputResult.Col[index].D);
cont = hXLD.AffineTransContourXld(mat2d);
}
return(cont);
}
public bool FindCircle(HObject img)
{
HTuple Row = new HTuple();
HTuple Col = new HTuple();
HTuple Distance = new HTuple();
HTuple outRow = new HTuple();
HTuple outCol = new HTuple();
HTuple outAmp = new HTuple();
HTuple outDistance = new HTuple();
HRegion regionCount = new HRegion();
regionCount.GenEmptyRegion();
HXLDCont contour = new HXLDCont();
if (img == null)
{
return(false);
}
HTuple imgWidth, imgHeight;
HTuple hms = null;
HOperatorSet.GetImageSize(img, out imgWidth, out imgHeight);
double xCenter, yCenter, Center_radius, angle, angleSplit;
angle = 0;
//分割角度
angleSplit = 2 * 3.1415926 / (Hnum);
xCenter = in_col[0].D + data_col;
yCenter = in_row[0].D + data_row;
Center_radius = in_radius[0].D;
HHomMat2D hom = new HHomMat2D();
hom.HomMat2dIdentity();
hom = hom.HomMat2dRotate(angleSplit, yCenter, xCenter);
double rect_row, rect_col, angleStart, L1, L2;
//分割矩形的中心坐标
rect_row = yCenter;
rect_col = xCenter + Center_radius;
L1 = HLengh[0].D / 2;
L2 = Hwid[0].D / 2;
if (Hdirection != "in2out")
{
//由外向内
angleStart = angle + (new HTuple(180)).TupleRad();
}
else
{
angleStart = angle;
}
for (int i = 0; i < Hnum[0].I; ++i)
{
if (m_bShowRectang2)
{
contour.Dispose();
contour.GenRectangle2ContourXld(rect_row, rect_col, angleStart + angleSplit * i, L1, L2);
HRegion region;
region = contour.GenRegionContourXld("margin");
regionCount = regionCount.Union2(region);
region.Dispose();
}
try
{//out_row, out_col, out_radius;
HOperatorSet.GenMeasureRectangle2(rect_row, rect_col, angleStart + angleSplit * i, L1,
L2, imgWidth, imgHeight, "nearest_neighbor", out hms);
HOperatorSet.MeasurePos(img, hms, Hsomth, Hamp, Htransition, Hselect,
out outRow, out outCol, out outAmp, out outDistance);
}
catch { continue; }
if (Hselect == "all" && outRow.Length > 1)
{
HTuple hIndex = outAmp.TupleSortIndex();
int nMax = hIndex[hIndex.Length - 1];
Row.Append(outRow[nMax]);
Col.Append(outCol[nMax]);
}
else
{
Row.Append(outRow);
Col.Append(outCol);
}
hom.AffineTransPixel(rect_row, rect_col, out rect_row, out rect_col);
}
HOperatorSet.CloseMeasure(hms);
if (m_bShowRectang2)
{
m_hRectang2.Dispose();
m_hRectang2 = regionCount.GenContoursSkeletonXld(1, "filter");
}
if (Row.Length > Hnum[0].D / 3)
{
HXLDCont counter = new HXLDCont();
counter.GenContourPolygonXld(Row, Col);
HTuple startphi, endphi;
HTuple pointorder;
counter.FitCircleContourXld("atukey", -1, 0, 0, 3, 2,
out out_row, out out_col, out out_radius, out startphi, out endphi, out pointorder);
HTuple rowDrop = new HTuple();
HTuple colDrop = new HTuple();
if (Row.Length - 5 > m_nNumDropPoints && m_nNumDropPoints > 0)
{
HTuple distance = new HTuple();
for (int i = 0; i < Row.Length; ++i)
{
double dis = HMisc.DistancePp(Row[i], Col[i], xCenter, yCenter);
distance.Append(Math.Abs(dis - Center_radius));
}
HTuple index = distance.TupleSortIndex();
index = index.TupleInverse();
for (int i = 0; i < m_nNumDropPoints; ++i)
{
int n = index[i];
rowDrop.Append(Row[n]);
colDrop.Append(Col[n]);
}
index = index.TupleFirstN(m_nNumDropPoints - 1);
Row = Row.TupleRemove(index);
Col = Col.TupleRemove(index);
counter.GenContourPolygonXld(Row, Col);
counter.FitCircleContourXld("atukey", -1, 0, 0, 3, 2,
out out_row, out out_col, out out_radius, out startphi, out endphi, out pointorder);
}
m_hCircle.Dispose();
m_centerCross.Dispose();
if (m_bShowCircle)
{
HOperatorSet.GenCrossContourXld(out m_centerCross, out_row, out_col, (out_radius / 2) + 1, (new HTuple(0)).TupleRad());
HOperatorSet.GenCircleContourXld(out m_hCircle, out_row, out_col, out_radius,
0, 3.1415926 * 2, "positive", 1);
}
m_hCross.Dispose();
if (m_bShowCross)
{
HOperatorSet.GenCrossContourXld(out m_hCross, Row, Col, 17, (new HTuple(45)).TupleRad());
}
Result_Array[0] = out_row;
Result_Array[1] = out_col;
Result_Array[2] = out_radius;
return(true);
}
return(false);
}