private void SaveParaBtn_Click(object sender, EventArgs e)
{
if (TeachCirclePara.CenterRows.Count - 1 < CircleNum)
{
this.TeachCirclePara.CenterRows.Add(TeachCenterRow);
this.TeachCirclePara.CenterCols.Add(TeachCenterCol);
this.TeachCirclePara.CircleRs.Add(TeachCircleR);
this.TeachCirclePara.DetectHeights.Add(DetectHeight);
this.TeachCirclePara.Elements.Add(Element);
this.TeachCirclePara.Thresholds.Add(Threshold);
this.TeachCirclePara.Directs.Add(Direct.ToString());
this.TeachCirclePara.StartPhis.Add(TeachStartPhi);
this.TeachCirclePara.EndPhis.Add(TeachEndPhi);
this.TeachCirclePara.PointOrders.Add(TeachPointOrderStr);
this.TeachCirclePara.Directs.Add(Direct.S);
}
else if (TeachCirclePara.CenterRows.Count - 1 >= CircleNum)
{
this.TeachCirclePara.CenterRows[CircleNum] = TeachCenterRow;
this.TeachCirclePara.CenterCols[CircleNum] = TeachCenterCol;
this.TeachCirclePara.CircleRs[CircleNum] = TeachCircleR;
this.TeachCirclePara.DetectHeights[CircleNum] = DetectHeight;
this.TeachCirclePara.Elements[CircleNum] = Element;
this.TeachCirclePara.Thresholds[CircleNum] = Threshold;
this.TeachCirclePara.Directs[CircleNum] = Direct.ToString();
this.TeachCirclePara.StartPhis[CircleNum] = TeachStartPhi;
this.TeachCirclePara.EndPhis[CircleNum] = TeachEndPhi;
this.TeachCirclePara.PointOrders[CircleNum] = TeachPointOrderStr;
this.TeachCirclePara.Directs[CircleNum] = Direct.S;
}
}
/// <summary>
/// Action for this instance.
/// </summary>
private void Action()
{
// Local iconic variables
HObject ho_ImageGrayRamp, ho_RegionLines, ho_RegionComplement;
HObject ho_ConnectedRegions;
// Local control variables
HTuple hv_Number = null;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_ImageGrayRamp);
HOperatorSet.GenEmptyObj(out ho_RegionLines);
HOperatorSet.GenEmptyObj(out ho_RegionComplement);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
ho_ImageGrayRamp.Dispose();
HOperatorSet.GenImageGrayRamp(out ho_ImageGrayRamp, 0, 0, 128, 256, 256, 512, 512);
HImage ImageGrayRamp = new HImage(ho_ImageGrayRamp);
// Cast using as operator
// Traditional cast
ho_RegionLines.Dispose();
HOperatorSet.GenRegionLine(out ho_RegionLines, 100, -1, 150, 512);
HRegion RegionLines = new HRegion(ho_RegionLines);
ho_RegionComplement.Dispose();
HOperatorSet.Complement(ho_RegionLines, out ho_RegionComplement);
HRegion RegionComplement = new HRegion(ho_RegionComplement);
HOperatorSet.SetSystem("neighborhood", 4);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_RegionComplement, out ho_ConnectedRegions);
HRegion ConnectedRegions = new HRegion(ho_ConnectedRegions);
ImageGrayRamp.DispImage(HalconWindow1);
ConnectedRegions.DispRegion(HalconWindow1);
RegionLines.DispRegion(HalconWindow1);
// Should be two objects
HOperatorSet.CountObj(ho_ConnectedRegions, out hv_Number);
label1.Text = "Number of objects 4-connected:" + hv_Number.ToString();
HOperatorSet.SetSystem("neighborhood", 8);
ConnectedRegions.Dispose();
ConnectedRegions = RegionComplement.Connection();
ImageGrayRamp.DispImage(HalconWindow2);
ConnectedRegions.DispRegion(HalconWindow2);
RegionLines.DispRegion(HalconWindow2);
// Should be a single object
hv_Number = ConnectedRegions.CountObj();
label2.Text = "Number of objects 8-connected:" + hv_Number.ToString();
ho_ImageGrayRamp.Dispose();
ho_RegionLines.Dispose();
ho_RegionComplement.Dispose();
ho_ConnectedRegions.Dispose();
}
private void ProcessImage(Object ob)
{
lock (locker)
{
HDevelopExport hd = new HDevelopExport();
HTuple res = hd.RunHalcon((bool)ob);
String[] date = res.ToString().Remove(0, 1).Remove(res.ToString().Length - 2, 1).Split(',');
setvalue(date);
}
}
private void SearchObject(HTuple TempModelID, HObject SearchImage)
{
try
{
HTuple hv_RefRow = null, hv_RefColumn = null, hv_RefAngle = null, hv_Score = null;
HOperatorSet.FindShapeModel(SearchImage, TempModelID, (new HTuple(0)).TupleRad(), (new HTuple(360)).TupleRad(), 0.5, 1, 0.5, "least_squares", (new HTuple(6)).TupleConcat(1), 0.75, out hv_RefRow, out hv_RefColumn, out hv_RefAngle, out hv_Score);
//获取模版中对象轮廓
HObject ho_ModelContours;
HOperatorSet.GenEmptyObj(out ho_ModelContours);
HOperatorSet.GetShapeModelContours(out ho_ModelContours, hv_ModelID, 1);
//构建一个仿射变换矩阵
HTuple hv_HomMat2D = null;
HOperatorSet.VectorAngleToRigid(0, 0, 0, hv_RefRow, hv_RefColumn, 0, out hv_HomMat2D);
//对图像左上角对象轮廓进行仿射变换，将轮廓平移到产品位置
HObject ho_TransContours;
HOperatorSet.GenEmptyObj(out ho_TransContours);
HOperatorSet.AffineTransContourXld(ho_ModelContours, out ho_TransContours, hv_HomMat2D);
GraphInteractiveObect.graphic_stackClear();
VideoWindow_hWindowControl.HalconWindow.ClearWindow();
HOperatorSet.SetColor(GraphInteractiveObect.halconWindow.HalconWindow, "yellow");
HOperatorSet.SetDraw(GraphInteractiveObect.halconWindow.HalconWindow, "margin");
HOperatorSet.DispObj(SearchImage, GraphInteractiveObect.halconWindow.HalconWindow);
HOperatorSet.DispObj(ho_TransContours, GraphInteractiveObect.halconWindow.HalconWindow);
HOperatorSet.SetColor(GraphInteractiveObect.halconWindow.HalconWindow, "blue");
HOperatorSet.SetDraw(GraphInteractiveObect.halconWindow.HalconWindow, "fill");
HOperatorSet.DispLine(GraphInteractiveObect.halconWindow.HalconWindow, hv_RefRow, hv_RefColumn - 100, hv_RefRow, hv_RefColumn + 100);
HOperatorSet.DispLine(GraphInteractiveObect.halconWindow.HalconWindow, hv_RefRow - 100, hv_RefColumn, hv_RefRow + 100, hv_RefColumn);
this.ModelRow_textBox.Text = hv_RefRow.ToString();
this.txtRow.Text = hv_RefRow.ToString();
this.ModelColumn_textBox.Text = hv_RefColumn.ToString();
this.txtCol.Text = hv_RefColumn.ToString();
this.ModelAngle_textBox.Text = hv_RefAngle.ToString();
this.txtAngle.Text = hv_RefAngle.ToString();
HOperatorSet.SetColor(GraphInteractiveObect.halconWindow.HalconWindow, "yellow");
HOperatorSet.SetDraw(GraphInteractiveObect.halconWindow.HalconWindow, "margin");
saveImage("Pos");
ho_ModelContours.Dispose();
ho_TransContours.Dispose();
}
catch (HalconException ex)
{
}
}
/// <summary>
/// 批量处理并显示图像线程
/// </summary>
private void ImagePreprocessThreading()
{
//Loop through all images,
//preprocess and then write them.
HObject ho_Image = new HObject(); HObject ho_ImagePreprocessed = new HObject();
for (HTuple hv_ImageIndex = 0; (int)hv_ImageIndex <= (hv_ImageFiles.TupleLength() - 1); hv_ImageIndex = (int)hv_ImageIndex + 1)
{
//显示原图像
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, hv_ImageFiles.TupleSelect(hv_ImageIndex));
DispImageAdaptively(ref hv_HWindowControl, ho_Image);
HOperatorSet.DispText(hv_HWindowControl.HalconWindow, "ImagesPreprocessing:" + hv_ImageIndex, "window", "top", "left", "red", "box", "true");
Console.WriteLine(hv_ImageIndex.ToString());
}
ho_ImagePreprocessed.Dispose();
//预处理图像
PreprocessImage(this.hv_Pretrained_DlClassifierName, ho_Image, out ho_ImagePreprocessed);
//保存预处理后图像
using (HDevDisposeHelper dh = new HDevDisposeHelper())
{
HOperatorSet.WriteObject(ho_ImagePreprocessed, hv_ObjectFilesOut.TupleSelect(hv_ImageIndex));
}
}
HOperatorSet.DispText(this.hv_WindowHandle, "Preprocessing over,Click to continue...", "window", "bottom", "right", "red", "box", "false");
}
private void load_parm()
{
if (FL_data.in_row != null)
{
Hrow = FL_data.in_row;
Hcol = FL_data.in_col;
Hphi = FL_data.in_phi;
L1 = FL_data.L1;
L2 = FL_data.L2;
}
Hnum = FL_data.Hnum;
Hwid = FL_data.Hwid;
Hamp = FL_data.Hamp;
Hsomth = FL_data.Hsomth;
Htransition = FL_data.Htransition;
Hselect = FL_data.Hselect;
data_row = FL_data.data_row;
data_col = FL_data.data_col;
data_phi = FL_data.data_phi;
NUM_UpDown.Value = (decimal)Hnum[0].I;
trackBar1.Value = (int)NUM_UpDown.Value;
Wid_UpDown.Value = (decimal)Hwid[0].I;
trackBar2.Value = (int)Wid_UpDown.Value;
Amp_UpDown.Value = (decimal)Hamp[0].I;
trackBar3.Value = (int)Amp_UpDown.Value;
Som_UpDown.Value = (decimal)Hsomth[0].D;
trackBar4.Value = (int)(Som_UpDown.Value * 10);
comboBox1.Text = Htransition;
comboBox2.Text = Hselect;
textBox1.Text = data_row.ToString();
textBox2.Text = data_col.ToString();
textBox3.Text = data_phi.ToString();
}
private void HwindowShow_HMouseDown(object sender, HMouseEventArgsWPF e)
{
if (e.Button == MouseButton.Right)
{
ContextMenu cm = this.FindResource("cmButton") as ContextMenu;
cm.PlacementTarget = sender as Button;
cm.IsOpen = true;
}
if (e.Button == MouseButton.Middle)
{
HTuple X = new HTuple();
HTuple Y = new HTuple();
HObject image;
HTuple row = new HTuple();
HTuple col = new HTuple();
HTuple grayval = new HTuple();
row = (int)e.X;
col = (int)e.Y;
try
{
HOperatorSet.GetGrayval(background_image, col, row, out grayval);
}
catch (Exception ex)
{
;
}
MessageBox.Show("当前坐标： X：" + row.ToString() + " Y: " + col.ToString() + " 灰度值 " + grayval.ToString());
}
}
public bool WriteParams(String xmlNode, string regionName)
{
try
{
string shv_MinGray = "Parameters/" + xmlNode + "/hv_MinGray";
string shv_MaxGray = "Parameters/" + xmlNode + "/hv_MaxGray";
string shv_Min = "Parameters/" + xmlNode + "/hv_Min";
string shv_Max = "Parameters/" + xmlNode + "/hv_Max";
string shv_Number = "Parameters/" + xmlNode + "/hv_Number";
xmlRW.Update(shv_MinGray, hv_MinGray.ToString());
xmlRW.Update(shv_MaxGray, hv_MaxGray.ToString());
xmlRW.Update(shv_Min, hv_Min.ToString());
xmlRW.Update(shv_Max, hv_Max.ToString());
xmlRW.Update(shv_Number, hv_Number.ToString());
string regionPath = AppDomain.CurrentDomain.BaseDirectory + @".//Parameters//" + regionName;
HOperatorSet.WriteRegion(ho_Region, regionPath);
errorFlag = false;
return(true);
}
catch (Exception exc)
{
errorFlag = true;
return(false);
}
}
private void ModelSearch(HTuple hv_ModelID, int i, out HTuple hv_Row, out HTuple hv_Column)
{
// Local iconic variables
HTuple hv_num = new HTuple(), hv_a = new HTuple();
HTuple hv_Seconds1 = new HTuple();
HTuple hv_Angle = new HTuple(), hv_Score = new HTuple();
HTuple hv_Seconds2 = new HTuple(), hv_Time = new HTuple();
HTuple hv_HeightWin = null, hv_WidthWin = null, hv_n = 1;
HOperatorSet.GenEmptyObj(out ho_GrayImage);
HOperatorSet.GenEmptyObj(out ho_Circle);
HOperatorSet.GenEmptyObj(out ho_Image);
hv_Row = null;
hv_Column = null;
// stop(); only in hdevelop
//**********************************************
//**********************************************
//设置模板完成开始匹配
ho_Image.Dispose();
HOperatorSet.ReadImage(out ho_Image, ("acA2500-14gc0" + i) + ".bmp");
ho_GrayImage.Dispose();
HOperatorSet.Rgb1ToGray(ho_Image, out ho_GrayImage);
HOperatorSet.CountSeconds(out hv_Seconds1);
HOperatorSet.FindShapeModel(ho_Image, hv_ModelID, (new HTuple(0)).TupleRad()
, (new HTuple(360)).TupleRad(), 0.8, 15, 0.2, "none", 0, 0.9, out hv_Row,
out hv_Column, out hv_Angle, out hv_Score);
HOperatorSet.CountSeconds(out hv_Seconds2);
hv_Time = 1000.0 * (hv_Seconds2 - hv_Seconds1);
HOperatorSet.GetImageSize(ho_Image, out hv_HeightWin, out hv_WidthWin); // 获取输入图像的尺寸
HOperatorSet.SetPart(hWindowControl1.HalconWindow, 0, 0, hv_WidthWin, hv_HeightWin); //将获得的图像铺满整个窗口
HOperatorSet.DispObj(ho_Image, hWindowControl1.HalconWindow);
HOperatorSet.SetColor(hWindowControl1.HalconWindow, "yellow");
HOperatorSet.SetLineWidth(hWindowControl1.HalconWindow, 1);
HOperatorSet.SetLineWidth(hWindowControl1.HalconWindow, 3);
HOperatorSet.SetColor(hWindowControl1.HalconWindow, "green");
HOperatorSet.SetDraw(hWindowControl1.HalconWindow, "margin");
hv_num = new HTuple(hv_Row.TupleLength());
HTuple end_val35 = hv_num - 1;
HTuple step_val35 = 1;
for (hv_a = 0; hv_a.Continue(end_val35, step_val35); hv_a = hv_a.TupleAdd(step_val35))
{
ho_Circle.Dispose();
HOperatorSet.GenCircle(out ho_Circle, hv_Row.TupleSelect(hv_a), hv_Column.TupleSelect(
hv_a), 220);
HOperatorSet.DispObj(ho_Circle, hWindowControl1.HalconWindow);
}
double d = hv_Time[0];
txtNumber.Text = hv_num.ToString();
txtTime.Text = d.ToString("0.##");
ho_GrayImage.Dispose();
ho_Image.Dispose();
ho_Circle.Dispose();
}
// Main procedure
private void action(HTuple UID)
{
// HTuple hv_exception = new HTuple();
// Initialize local and output iconic variables
//HOperatorSet.GenEmptyObj(out ho_Image);
#if DEBUG
Console.WriteLine("ÕýÔÚ³õʼ»¯" + UID.ToString());
#endif
try
{
HOperatorSet.OpenFramegrabber("MVision", 0, 0, 0, 0, 0, 0, "default", -1,
// HOperatorSet.OpenFramegrabber("GigEVision", 0, 0, 0, 0, 0, 0, "default", -1,
"default", -1, "false", "default", UID, 0, -1, out hv_AcqHandle);
HOperatorSet.SetFramegrabberParam(hv_AcqHandle, "ExposureTime", 5000);
HOperatorSet.SetFramegrabberParam(hv_AcqHandle, "Gain", 0);
HOperatorSet.SetFramegrabberParam(hv_AcqHandle, "TriggerMode", "On");
HOperatorSet.SetFramegrabberParam(hv_AcqHandle, "TriggerSource", "Software");
HOperatorSet.GrabImageStart(hv_AcqHandle, -1);
}
catch (HalconException HDevExpDefaultException)
{
throw HDevExpDefaultException;
}
}
/// <summary>
/// 相机参数Thread
/// </summary>
private void Camerarfs()
{
HObject ho_Image = null;
int i = 1;
try
{
while (i != 0)
{
HOperatorSet.GrabImage(out ho_Image, hv_AcqHandle);
if (ho_Image != null)
{
HOperatorSet.Intensity(ho_Image, ho_Image, out hv_Mean, out hv_Deviation); // 求图片平均值和方差
tssl_Mean.Text = "图片平均值：" + hv_Mean.ToString();
tssl_Deviation.Text = "图片方差：" + hv_Deviation.ToString();
//显示玩之后释放图片
ho_Image.Dispose();
}
}
}
catch (Exception)
{
MessageBox.Show("相机参数获取失败！");
tssl_Mean.Text = "相机参数获取失败!";
tssl_Deviation.Text = "无法自动捕捉图像";
}
}
private void ClassifierParamsSetForm_Load(object sender, EventArgs e)
{
numericUpDownBatchSize.Value = _BatchSize;
numericUpDownNumEpochs.Value = _NumEpochs;
numericUpDownLearningRateSENE.Value = _LearningRateStepEveryNthEpoch;
textBoxLearningRateStepRatio.Text = _LearningRateStepRatio.ToString();
textBoxInitialLearningRate.Text = _InitialLearningRate.ToString();
numericUpDownTrainingPercent.Value = _TrainingPercent;
numericUpDownValidationPercent.Value = _ValidationPercent;
}
List <HObject> ho_Regions; //模板区域集合
private void Show2HWindow(HObject ho_HObject)
{
//缩放显示图像，并且计算缩放比例和窗口起始位置
HOperatorSet.ClearWindow(hv_ImageWindow);
HTuple hv_Width = new HTuple();
HTuple hv_Height = new HTuple();
HOperatorSet.GetImageSize(ho_HObject, out hv_Width, out hv_Height);
int imgWidth = int.Parse(hv_Width.ToString());
int imgHeight = int.Parse(hv_Height.ToString());
double imgAspectRatio = (double)imgWidth / (double)imgHeight;
int winWidth = this.hWindowControl1.WindowSize.Width;
int winHeight = this.hWindowControl1.WindowSize.Height;
double winAspectRatio = (double)winWidth / (double)winHeight;
HOperatorSet.SetSystem("int_zooming", "false");//图像缩放之前最好将此参数设置为false.
HTuple hv_Para = new HTuple("constant");
HObject ho_ZoomImage;
HOperatorSet.GenEmptyObj(out ho_ZoomImage);
if (winWidth < imgWidth && imgAspectRatio > winAspectRatio)
{
//超宽图像
HOperatorSet.ZoomImageSize(ho_HObject, out ho_ZoomImage, winWidth, winWidth / imgAspectRatio, hv_Para);
hv_StartX = 0 - (winHeight - winWidth / imgAspectRatio) / 2;
hv_StartY = 0;
hv_ZoomFactor = (double)winWidth / (double)imgWidth;
}
else if (winHeight < imgHeight && imgAspectRatio < winAspectRatio)
{
//超高图像
HOperatorSet.ZoomImageSize(ho_HObject, out ho_ZoomImage, winHeight * imgAspectRatio, winHeight, hv_Para);
hv_StartX = 0;
hv_StartY = 0 - (winWidth - winHeight * imgAspectRatio) / 2;
hv_ZoomFactor = (double)winHeight / (double)imgHeight;
}
try
{
HOperatorSet.SetPart(hv_ImageWindow, hv_StartX, hv_StartY, winHeight - 1 + hv_StartX, winWidth - 1 + hv_StartY);//设置居中显示
HOperatorSet.DispObj(ho_ZoomImage, hv_ImageWindow);
HOperatorSet.HomMat2dIdentity(out hv_XldHomMat2D);
HOperatorSet.HomMat2dScale(hv_XldHomMat2D, hv_ZoomFactor, hv_ZoomFactor, 0, 0, out hv_XldHomMat2D);
}
catch (Exception exc)
{
MessageBox.Show("图像显示错误！" + exc.ToString());
}
}
public bool WriteParams(String xmlNode, string regionName)
{
try
{
string shv_MeasureLength1 = "Parameters/" + xmlNode + "/hv_MeasureLength1";
string shv_MeasureLength2 = "Parameters/" + xmlNode + "/hv_MeasureLength2";
string shv_MeasureSigma = "Parameters/" + xmlNode + "/hv_MeasureSigma";
string shv_MeasureThreshold = "Parameters/" + xmlNode + "/hv_MeasureThreshold";
string shv_GenParamName = "Parameters/" + xmlNode + "/hv_GenParamName";
string shv_GenParamValue = "Parameters/" + xmlNode + "/hv_GenParamValue";
string shv_Number = "Parameters/" + xmlNode + "/hv_Number";
string shv_Row1_Horizon = "Parameters/" + xmlNode + "/hv_Row1_Horizon";
string shv_Column1_Horizon = "Parameters/" + xmlNode + "/hv_Column1_Horizon";
string shv_Row2_Horizon = "Parameters/" + xmlNode + "/hv_Row2_Horizon";
string shv_Column2_Horizon = "Parameters/" + xmlNode + "/hv_Column2_Horizon";
string shv_Row1_Vertical = "Parameters/" + xmlNode + "/hv_Row1_Vertical";
string shv_Column1_Vertical = "Parameters/" + xmlNode + "/hv_Column1_Vertical";
string shv_Row2_Vertical = "Parameters/" + xmlNode + "/hv_Row2_Vertical";
string shv_Column2_Vertical = "Parameters/" + xmlNode + "/hv_Column2_Vertical";
xmlRW.Update(shv_MeasureLength1, hv_MeasureLength1.ToString());
xmlRW.Update(shv_MeasureLength2, hv_MeasureLength2.ToString());
xmlRW.Update(shv_MeasureSigma, hv_MeasureSigma.ToString());
xmlRW.Update(shv_MeasureThreshold, hv_MeasureThreshold.ToString());
xmlRW.Update(shv_GenParamName, hv_GenParamName);
xmlRW.Update(shv_GenParamValue, hv_GenParamValue);
xmlRW.Update(shv_Number, hv_Number.ToString());
xmlRW.Update(shv_Row1_Horizon, hv_Row1_Horizon.ToString());
xmlRW.Update(shv_Column1_Horizon, hv_Column1_Horizon.ToString());
xmlRW.Update(shv_Row2_Horizon, hv_Row2_Horizon.ToString());
xmlRW.Update(shv_Column2_Horizon, hv_Column2_Horizon.ToString());
xmlRW.Update(shv_Row1_Vertical, hv_Row1_Vertical.ToString());
xmlRW.Update(shv_Column1_Vertical, hv_Column1_Vertical.ToString());
xmlRW.Update(shv_Row2_Vertical, hv_Row2_Vertical.ToString());
xmlRW.Update(shv_Column2_Vertical, hv_Column2_Vertical.ToString());
errorFlag = false;
return(true);
}
catch (Exception exc)
{
errorFlag = true;
return(false);
}
}
public bool FindTab()
{
if (tabParams.ho_Image == null)
{
MessageBox.Show("图像为空！");
return(false);
}
Show2HWindow(tabParams.ho_Image);
if (tabParams.ho_Region == null)
{
MessageBox.Show("区域为空！");
return(false);
}
try
{
HObject ho_ImageReduced = null;
HOperatorSet.ReduceDomain(tabParams.ho_Image, tabParams.ho_Region, out ho_ImageReduced);
HObject ho_Regions = null;
HOperatorSet.Threshold(ho_ImageReduced, out ho_Regions, tabParams.hv_MinGray, tabParams.hv_MaxGray);
HObject ho_ConnectedRegions = null;
HOperatorSet.Connection(ho_Regions, out ho_ConnectedRegions);
HObject ho_SelectedRegions = null;
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions, "area", "and", tabParams.hv_Min, tabParams.hv_Max);
HTuple hv_Number = new HTuple();
HOperatorSet.CountObj(ho_SelectedRegions, out hv_Number);
if (hv_Number < tabParams.hv_Number)
{
MessageBox.Show("匹配数量过少");
return(false);
}
HOperatorSet.AffineTransRegion(ho_SelectedRegions, out ho_SelectedRegions, hv_XldHomMat2D, hv_Interpolate);
HOperatorSet.SetColor(hv_ImageWindow, "red");
HOperatorSet.DispObj(ho_SelectedRegions, hv_ImageWindow);
MessageBox.Show("检测成功，检测匹配个数：" + hv_Number.ToString() + "!");
return(true);
}
catch (Exception exc)
{
MessageBox.Show("检测失败！" + exc.ToString());
return(false);
}
}
private void get_calibarate_data(HTuple cameraWindow, TextBox x, TextBox y)
{
try
{
HTuple hv_Row1 = null;
HTuple hv_Column1 = null;
HTuple hv_Row2 = null;
HTuple hv_Column2 = null;
HOperatorSet.SetColor(cameraWindow, "red");
HOperatorSet.DrawRectangle1(cameraWindow, out hv_Row1, out hv_Column1, out hv_Row2, out hv_Column2);
HTuple roi_hv_Row1 = null;
HTuple roi_hv_Column1 = null;
HTuple roi_hv_Row2 = null;
HTuple roi_hv_Column2 = null;
roi_hv_Row1 = hv_Row1 / hv_ZoomFactor;
roi_hv_Column1 = hv_Column1 / hv_ZoomFactor;
roi_hv_Row2 = hv_Row2 / hv_ZoomFactor;
roi_hv_Column2 = hv_Column2 / hv_ZoomFactor;
HObject ho_ROI = new HObject();
HOperatorSet.GenRectangle1(out ho_ROI, roi_hv_Row1, roi_hv_Column1, roi_hv_Row2, roi_hv_Column2);
HTuple hv_Row_camera = null;
HTuple hv_Column_camera = null;
if (!findCircle(ho_Image, ho_ROI, ref hv_Row_camera, ref hv_Column_camera))
{
MessageBox.Show("查找圆心失败！");
return;
}
HObject ho_MeasuredPoint;
HOperatorSet.GenCrossContourXld(out ho_MeasuredPoint, hv_Row_camera, hv_Column_camera, 40, (new HTuple(45)).TupleRad());
x.Text = hv_Row_camera.ToString();
y.Text = hv_Column_camera.ToString();
HOperatorSet.AffineTransContourXld(ho_MeasuredPoint, out ho_MeasuredPoint, hv_XldHomMat2D);
HOperatorSet.DispObj(ho_MeasuredPoint, cameraWindow);
}
catch (Exception)
{
MessageBox.Show("框取区域失败！");
}
}
async void getDataLive()
{
while (true)
{
try
{
string a;
HTuple b = 1000;
// get data from PLC
if (btnConnection.Text == "Connected")
{
dataWord = clsPlc.RecDataFromPLC(dataType, device_getWord, 10, _plcSocket);
databit = clsPlc.GetBitFromPLC(device_getBit, 1, _plcSocket);
//getdataBarcode = clsPlc.RecDataFromPLC("String", 3000, 10, _plcSocket);
this.Invoke((MethodInvoker) delegate
{
txtRecdataBit.Text = databit.ToString();
txtRecdataWord.Text = dataWord.ToString();
});
b = Lib.ToDouble(nbrDataSend.Value);
}
HTuple bb = Lib.ToDouble(nbrDataSend.Value);
// rec data to PLC
if (btnConnection.Text == "Connected")
{
clsPlc.SendDataFromPLC("Word", bb, 4000, _plcSocket);
}
if (databit == 1)
{
Img.Dispose();
Img = Framgraber.GrabImage();
Img.DispObj(window);
}
if (static_senddata == true)
{
clsPlc.SetBitFromPLC(3000, 1, 1, _plcSocket);
clsPlc.SetBitFromPLC(3000, 0, 1, _plcSocket);
}
}
catch (Exception ex)
{
}
}
}
private void findCode(HObject hObj, HTuple codeType, out string result)
{
// Local iconic variables
HObject ho_Image, ho_SymbolXLDs;
//HObject ho_ImageZoomed = null;
// Local control variables
HTuple hv_DataCodeHandle = null, hv_ResultHandles = null;
HTuple hv_DecodedDataStrings = null;
HTuple hv_Width = null, hv_Height = null;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Image);
//HOperatorSet.GenEmptyObj(out ho_ImageZoomed);
HOperatorSet.GenEmptyObj(out ho_SymbolXLDs);
HOperatorSet.CreateDataCode2dModel(codeType, "default_parameters", "maximum_recognition", out hv_DataCodeHandle);
ho_Image.Dispose();
ho_Image = hObj.Clone();
//HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height);
////int width = hv_Width;
//int height = hv_Height;
//if (hv_Width>2000 || height>2000)
//{
// ho_ImageZoomed.Dispose();
// HOperatorSet.ZoomImageFactor(ho_Image, out ho_ImageZoomed, 0.5, 0.5, "bilinear");
//}
//else
//{
// ho_ImageZoomed.Dispose();
// HOperatorSet.ZoomImageFactor(ho_Image, out ho_ImageZoomed, 1, 1, "bilinear");
//}
//Read the symbol in the image
ho_SymbolXLDs.Dispose();
HOperatorSet.FindDataCode2d(ho_Image, out ho_SymbolXLDs, hv_DataCodeHandle, new HTuple(),
new HTuple(), out hv_ResultHandles, out hv_DecodedDataStrings);
//Clear the model
HOperatorSet.ClearDataCode2dModel(hv_DataCodeHandle);
ho_Image.Dispose();
//ho_ImageZoomed.Dispose();
ho_SymbolXLDs.Dispose();
result = hv_DecodedDataStrings.ToString();
}
public void GetFocusValueProcess()
{
HTuple Value = new HTuple();
HObject Rect = new HObject();
HObject ReduceImg = new HObject();
HObject CropImg = new HObject();
HObject RectContour = new HObject();
HTuple Width, Hei;
while (IsContinue)
{
try
{
#region
if (Img != null && Img.IsInitialized())
{
Img.Dispose();
}
//if (RectContour != null && RectContour.IsInitialized()) RectContour.Dispose();
Camera.Instance.GrabImg(CcdName, out Img);
HOperatorSet.GenRectangle1(out Rect, row1, col1, row2, col2);
HOperatorSet.GenContourRegionXld(Rect, out RectContour, "border");
HOperatorSet.ReduceDomain(Img, Rect, out ReduceImg);
Rect.Dispose();
HOperatorSet.CropDomain(ReduceImg, out CropImg);
ReduceImg.Dispose();
MyVisionBase.evaluate_definition(CropImg, out Value);
CropImg.Dispose();
view.ResetView();
view.AddViewImage(Img);
view.AddViewObject(RectContour);
HOperatorSet.GetImageSize(Img, out Width, out Hei);
view.Repaint();
view.SetString(Width.D / 2, Hei.D / 2, "red", Value.ToString());
System.Threading.Thread.Sleep(100);
//Img.Dispose();
//RectContour.Dispose();
#endregion
}
catch { }
}
}
// Main procedure
private void action()
{
// Local iconic variables
HObject ho_Image1, ho_Image, ho_Rectangle;
// Local control variables
HTuple hv_Row1 = null, hv_Column1 = null, hv_Row2 = null;
HTuple hv_Column2 = null, hv_Mean = null, hv_Deviation = null;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Image1);
HOperatorSet.GenEmptyObj(out ho_Image);
HOperatorSet.GenEmptyObj(out ho_Rectangle);
//¶ÁȡͼƬ£¬×ª»»³É»Ò¶ÈͼƬ
ho_Image1.Dispose();
HOperatorSet.ReadImage(out ho_Image1, "C:/Users/Public/Documents/MVTec/HALCON-17.12-Progress/examples/images/cable1.png");
ho_Image.Dispose();
HOperatorSet.Rgb1ToGray(ho_Image1, out ho_Image);
HOperatorSet.DispObj(ho_Image, hv_ExpDefaultWinHandle);
//Ñ¡Ôñ²âÁ¿µÄÇøÓò
HOperatorSet.DrawRectangle1(hv_ExpDefaultWinHandle, out hv_Row1, out hv_Column1,
out hv_Row2, out hv_Column2);
ho_Rectangle.Dispose();
HOperatorSet.GenRectangle1(out ho_Rectangle, hv_Row1, hv_Column1, hv_Row2, hv_Column2);
//¼ì²â»Ò¶È
HOperatorSet.Intensity(ho_Rectangle, ho_Image, out hv_Mean, out hv_Deviation);
HOperatorSet.DispObj(ho_Image, hv_ExpDefaultWinHandle);
MessageBox.Show(hv_Mean.ToString());
ho_Image1.Dispose();
ho_Image.Dispose();
ho_Rectangle.Dispose();
}
private void hv_Window_HMouseMove(object sender, HMouseEventArgs e)
{
if (MyCurCom.ho_Image == null)
{
BeginInvoke(new MethodInvoker(delegate
{
PixelLabel.Text = "[-1,-1]->[-1]";
}));
}
else
{
double current_beginX, current_beginY, current_width, current_heigth;
string mes = ((int)e.X).ToString() + "," + ((int)e.Y).ToString();
string ShowMes = "[" + mes + "]->";
HTuple row = new HTuple();
HTuple col = new HTuple();
HTuple grayval = new HTuple();
string PixelMes = "";
lock (locker1)
{
try
{
HOperatorSet.GetGrayval(MyCurCom.ho_Image, (int)e.Y, (int)e.X, out grayval);
PixelMes = grayval.ToString();
}
catch
{
PixelMes = "[-1]";
}
}
ShowMes = ShowMes + PixelMes;
BeginInvoke(new MethodInvoker(delegate
{
PixelLabel.Text = ShowMes;
}));
}
}
public bool WriteParams(String xmlNode)
{
try
{
string shv_MeasureLength1 = "Parameters/" + xmlNode + "/hv_MeasureLength1";
string shv_MeasureLength2 = "Parameters/" + xmlNode + "/hv_MeasureLength2";
string shv_MeasureSigma = "Parameters/" + xmlNode + "/hv_MeasureSigma";
string shv_MeasureThreshold = "Parameters/" + xmlNode + "/hv_MeasureThreshold";
string shv_GenParamName = "Parameters/" + xmlNode + "/hv_GenParamName";
string shv_GenParamValue = "Parameters/" + xmlNode + "/hv_GenParamValue";
string shv_Row1 = "Parameters/" + xmlNode + "/hv_Row1";
string shv_Column1 = "Parameters/" + xmlNode + "/hv_Column1";
string shv_Row2 = "Parameters/" + xmlNode + "/hv_Row2";
string shv_Column2 = "Parameters/" + xmlNode + "/hv_Column2";
xmlRW.Update(shv_MeasureLength1, hv_MeasureLength1.ToString());
xmlRW.Update(shv_MeasureLength2, hv_MeasureLength2.ToString());
xmlRW.Update(shv_MeasureSigma, hv_MeasureSigma.ToString());
xmlRW.Update(shv_MeasureThreshold, hv_MeasureThreshold.ToString());
xmlRW.Update(shv_GenParamName, hv_GenParamName);
xmlRW.Update(shv_GenParamValue, hv_GenParamValue);
xmlRW.Update(shv_Row1, hv_Row1.ToString());
xmlRW.Update(shv_Column1, hv_Column1.ToString());
xmlRW.Update(shv_Row2, hv_Row2.ToString());
xmlRW.Update(shv_Column2, hv_Column2.ToString());
errorFlag = false;
return(true);
}
catch (Exception exc)
{
errorFlag = true;
return(false);
}
}
private void load_parm()
{
if (FC_data.in_row != null)
{
Hrow = FC_data.in_row;
Hcol = FC_data.in_col;
Hradius = FC_data.in_radius;
}
Hnum = FC_data.Hnum;
Hwid = FC_data.Hwid;
Hamp = FC_data.Hamp;
Hsomth = FC_data.Hsomth;
HLengh = FC_data.HLengh;
Htransition = FC_data.Htransition;
Hselect = FC_data.Hselect;
Hdirection = FC_data.Hdirection;
data_row = FC_data.data_row;
data_col = FC_data.data_col;
NUM_UpDown.Value = (decimal)Hnum[0].I;
trackBar1.Value = (int)NUM_UpDown.Value;
Wid_UpDown.Value = (decimal)Hwid[0].I;
trackBar2.Value = (int)Wid_UpDown.Value;
Amp_UpDown.Value = (decimal)Hamp[0].I;
trackBar3.Value = (int)Amp_UpDown.Value;
Som_UpDown.Value = (decimal)Hsomth[0].D;
trackBar4.Value = (int)(Som_UpDown.Value * 10);
L1_UpDown.Value = (decimal)HLengh[0].I;
trackBar5.Value = (int)L1_UpDown.Value;
comboBox1.Text = Htransition;
comboBox2.Text = Hselect;
comboBox3.Text = Hdirection;
textBox1.Text = data_row.ToString();
textBox2.Text = data_col.ToString();
}
private void UpdateHalconControl(double ControlScale)
{
hWindowControl1.Size = new Size((int)(int.Parse(hv_Width.ToString()) * (ControlScale)), (int)(int.Parse(hv_Height.ToString()) * (ControlScale)));
}
private void Calib_button_Click(object sender, EventArgs e)
{
HTuple hv_x = new HTuple(), hv_y = new HTuple(), hv_x_mm = new HTuple();
HTuple hv_y_mm = new HTuple(), hv_HomMat2D = new HTuple();
//count valid pairs validPairs
int validPairs1 = 0, validPairs2 = 0, validPairs = 0;
int min = 9;
foreach (TextBox tb in this.Cali_tabPage.Controls.OfType <TextBox>())
{
if (tb is TextBox && tb.Text == string.Empty && tb.TabIndex < min)
{
min = tb.TabIndex;
}
}
foreach (TextBox tb in this.Cali_tabPage.Controls.OfType <TextBox>())
{
if (tb is TextBox && tb.TabIndex == min)
{
if (tb.Text == string.Empty)
{
validPairs1 = min - 1;
break;
}
else
{
validPairs1 = min;
break;
}
}
}
int min2 = 19;
foreach (TextBox tb in this.Cali_tabPage.Controls.OfType <TextBox>())
{
if (tb is TextBox && tb.Text == string.Empty && tb.TabIndex < min2 && tb.TabIndex > 10)
{
min2 = tb.TabIndex;
}
}
foreach (TextBox tb in this.Cali_tabPage.Controls.OfType <TextBox>())
{
if (tb is TextBox && tb.TabIndex == min2)
{
if (tb.Text == string.Empty)
{
validPairs2 = min2 - 1;
break;
}
else
{
validPairs2 = min2;
break;
}
}
}
if (validPairs1 - (validPairs2 - 10) > 0)
{
validPairs = validPairs2 - 10;
}
else
{
validPairs = validPairs1;
}
foreach (TextBox tb in this.Cali_tabPage.Controls.OfType <TextBox>())
{
for (int i = 0; i < validPairs; i++)
{
if (tb.TabIndex == i + 1)
{
hv_x[i] = string2point(tb.Text)[0];
hv_y[i] = string2point(tb.Text)[1];
tb.BackColor = Color.Green;
}
if (tb.TabIndex == i + 1 + 10)
{
hv_x_mm[i] = string2point(tb.Text)[0];
hv_y_mm[i] = string2point(tb.Text)[1];
tb.BackColor = Color.Green;
}
}
}
HOperatorSet.VectorToSimilarity(hv_x, hv_y, hv_x_mm, hv_y_mm, out hv_HomMat2D);
MessageBox.Show(hv_HomMat2D.ToString());
}
async void runcode()
{
if (Framgraber == null)
{
MessageBox.Show(" CAMERA DISCONNECTION !!");
return;
}
if (socketPLC == null)
{
MessageBox.Show(" PLC DISCONNECTION !!");
return;
}
double Z = 100;
int _break = 0;
while (true)
{
try
{
int countPointHE = 0;
DataBit = clsPlc.GetBitFromPLC(3000, 1, socketPLC); // Snap
DataBitTrigerHE = clsPlc.GetBitFromPLC(4000, 1, socketPLC); // HEB
DataBitTrigerCaLib = clsPlc.GetBitFromPLC(5000, 1, socketPLC);
Task task1;
task1 = Task.Factory.StartNew(() =>
{
try
{
//HOperatorSet.GrabImage(out HObject image1, _frameGrabber);
}
catch (Exception ex)
{
}
});
//CALIB
// if (DataBitTrigerCaLib == 1)
if (DataBitTrigerCaLib == 1)
{
this.Invoke((MethodInvoker) delegate
{
btnCalibBit.BackColor = Color.Green;
});
// Khoi tao Model Calibration cua Halcon
HTuple CalibDataID = clsCalib.InitCalib("area_scan_division", "calibration_object", 0.008, 0, 1.85 / 1000000, 1.85 / 1000000, 4024 / 2, 3036 / 2, 4024, 3036, Application.StartupPath + "/calib/" + "caltab_30mm.descr");
int countpointCalib = 0;
while (true)
{
DataBit = clsPlc.GetBitFromPLC(3000, 1, socketPLC);
if (DataBit == 1)
{
snap();
HOperatorSet.WriteImage(Img, "bmp", 0, Application.StartupPath + "/hand_eye/" + "image_calib_" + countpointCalib);
clsPlc.SendDataFromPLC("Word", 2, 4005, socketPLC);
Thread.Sleep(100);
clsPlc.SendDataFromPLC("Word", 2, 4002, socketPLC); // Send Data OK
countpointCalib += 1;
}
if (countpointCalib == 11)
{
HTuple Error = clsCalib.Finally();
this.Invoke((MethodInvoker) delegate
{
string Errorshow = Error.ToString();
txtErrorCalib.Text = Errorshow;
}
);
clsPlc.SetBitFromPLC(4003, 2, 1, socketPLC);
// Send Finish
MessageBox.Show(" Calib Complete <3");
break;
}
Thread.Sleep(100);
}
}
else
{
this.Invoke((MethodInvoker) delegate
{
btnCalibBit.BackColor = Color.Red;
});
}
//HE
if (DataBitTrigerHE == 1) /////////-----HEB------
{
HTuple lst_row_vs = new HTuple();
HTuple lst_col_vs = new HTuple();
HTuple lst_agl_vs = new HTuple();
HTuple lst_x_rb = new HTuple();
HTuple lst_y_rb = new HTuple();
HTuple lst_a_rb = new HTuple();
int countpointHE = 0;
while (true)
{
_break = 0;
try
{
/// Recieve signal riger Camera
DataBit = clsPlc.GetBitFromPLC(3000, 1, socketPLC);
if (DataBit == 1)
{
this.Invoke((MethodInvoker) delegate
{
btnHandeyeBit.BackColor = Color.Green;
});
window.ClearWindow();
// Call result Shape Model
result rsl = new result();
snap();
HObject newimg = new HObject(Img);
rsl = clsCalib.findshapemodle(newimg, ModelID, window);
////**** Use Origin
HTuple row_input = rsl.RowProj;
HTuple col_input = rsl.ColProj;
HTuple agl_input = rsl.Angle_;
if (_useOrigin == 1)
{
HTuple x0 = 0.0, y0 = 0.0, agl0 = 0.0;
HTuple hommat2D_findregion = new HTuple();
HOperatorSet.VectorAngleToRigid(x0, y0, agl0, rsl.lst_cordinate_shapemodel[0], rsl.lst_cordinate_shapemodel[1], rsl.lst_cordinate_shapemodel[2], out hommat2D_findregion);
clsCalib.create_origin(newimg, rg_binary, rg_first, rg_second, hommat2D_findregion);
row_input = rsl.RowProj;
col_input = rsl.ColProj;
agl_input = rsl.Angle_;
}
else
{
row_input = rsl.lst_cordinate_shapemodel[0];
col_input = rsl.lst_cordinate_shapemodel[1];
agl_input = rsl.lst_cordinate_shapemodel[2];
}
//Add list vision coordinate
HOperatorSet.TupleConcat(lst_row_vs, row_input, out lst_row_vs);
HOperatorSet.TupleConcat(lst_col_vs, col_input, out lst_col_vs);
HOperatorSet.TupleConcat(lst_agl_vs, agl_input, out lst_agl_vs);
// set window
window.SetColor("green");
window.SetDraw("margin");
window.SetLineWidth(3);
rsl.shapemodel_affined.DispObj(window);
window.SetColor("yellow");
//window.DispObj(cross);
//HOperatorSet.WriteImage(Img, "bmp", 0, Application.StartupPath + "/hand_eye/" + "image_calib_" + countpointHE);
clsPlc.SendDataFromPLC("Word", 2, 4005, socketPLC);
// Get coordinate of Robot
HTuple _x = clsPlc.RecDataFromPLC("DWord", 3100, 2, socketPLC);
HTuple _y = clsPlc.RecDataFromPLC("DWord", 3102, 2, socketPLC);
HTuple _angle = clsPlc.RecDataFromPLC("DWord", 3104, 2, socketPLC);
HTuple division = 1000.0;
HTuple _xx = _x / division;
HTuple _xy = _y / division / 10;
HTuple _thee = _angle / 10000.0;
// Add list coordinate robot
HOperatorSet.TupleConcat(lst_x_rb, _xx, out lst_x_rb);
HOperatorSet.TupleConcat(lst_y_rb, _xy, out lst_y_rb);
HOperatorSet.TupleConcat(lst_a_rb, _thee, out lst_a_rb);
countpointHE += 1;
HOperatorSet.WriteImage(Img, "bmp", 0, Application.StartupPath + "/hand_eye/" + "image_calib_" + countpointHE);
this.Invoke((MethodInvoker) delegate
{
//timer1.Enabled = true;
//MessageBox.Show($"Next count {countpointHE}...");
//timer1.Enabled = false;
lbCountNumber.Text = countpointHE.ToString();
txtXRobot.Text = _x.ToString();
txtYRobot.Text = _y.ToString();
txtThetaRobot.Text = _angle.ToString();
btnTrigerBit.BackColor = Color.Green;
});
Thread.Sleep(100);
clsPlc.SendDataFromPLC("Word", 2, 4002, socketPLC);
}
if (DataBit == 0)
{
this.Invoke((MethodInvoker) delegate
{
btnTrigerBit.BackColor = Color.Red;
});
}
if (countpointHE == 11)
{
string pathsave = Application.StartupPath + "/Handeye_Hommat";
result rsl = new result();
rsl = clsCalib.handeye11point(lst_row_vs, lst_col_vs, lst_agl_vs, lst_x_rb, lst_y_rb);
// Write list data point
HOperatorSet.WriteTuple(lst_row_vs, pathsave + "/lst_row_vs.tup");
HOperatorSet.WriteTuple(lst_col_vs, pathsave + "/lst_col_vs.tup");
HOperatorSet.WriteTuple(lst_agl_vs, pathsave + "/lst_agl_vs.tup");
HOperatorSet.WriteTuple(lst_x_rb, pathsave + "/lst_x_rb.tup");
HOperatorSet.WriteTuple(lst_y_rb, pathsave + "/lst_y_rb.tup");
// Save Data Handeye
HOperatorSet.WriteTuple(rsl.HomMat_ImgtoWorld, pathsave + "/HomMat_ImgtoWorld.tup");
HOperatorSet.WriteTuple(rsl.HomMat_WorldtoImg, pathsave + "/HomMat_WorldtoImg.tup");
HOperatorSet.WriteTuple(rsl.TCP_to_Tool, pathsave + "/TCP_to_Tool.tup");
HOperatorSet.WriteTuple(rsl.Tool_to_TCP, pathsave + "/Tool_to_TCP.tup");
clsPlc.SendDataFromPLC("Word", 4, 4003, socketPLC); // Send complete handeye to PLC.
Thread.Sleep(100);
MessageBox.Show($"Complete!!");
countpointHE = 0;
this.Invoke((MethodInvoker) delegate
{
btnTrigerBit.BackColor = Color.Red;
});
break;
}
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
_break = 1;
break;
}
Thread.Sleep(100);
}
}
else
{
this.Invoke((MethodInvoker) delegate
{
btnHandeyeBit.BackColor = Color.Red;
});
}
await Task.WhenAll(task1);
}
catch (Exception ex)
{
}
if (_break == 1)
{
break;
}
}
}
public void ProcessStep(HImage imageGrabbed)
{
currentFMCData = new FocusMagnificationCheckData();
lock (this.ImageToBeSaved)
{
this.ImageToBeSaved = imageGrabbed.CopyImage();
}
bool calibrationTargetContrastOK = true;
// Feed the image to the script
imageGrabbed = imageGrabbed.CropDomain();
currentFMCData.Image = imageGrabbed;
int imageChannels = imageGrabbed.CountChannels();
HImage rImg = null, gImg = null, bImg = null, rgbImg = null, irImg = null;
if (imageChannels == Properties.Settings.Default.NumberOfChannelsInIRAndRGBImage)
{
rImg = imageGrabbed.Decompose4(out gImg, out bImg, out irImg);
rgbImg = rImg.Compose3(gImg, bImg);
}
HImage grayImage = new HImage();
if (rgbImg == null)
{
return;
}
imageGrabbed = rgbImg.CopyImage();
#region IntensityCheckForCheckingCalibrationTarget
// Check the minimum and maximum light intensity to determine whether correct calibration target
// has been placed
grayImage = imageGrabbed.Rgb1ToGray();
HImage ho_R;
HImage ho_G;
HImage ho_B;
ho_R = imageGrabbed.Decompose3(out ho_G, out ho_B);
HTuple RAOIGrayVals = Globals.GetGrayValuesOfLine(ho_R);
HTuple GAOIGrayVals = Globals.GetGrayValuesOfLine(ho_G);
HTuple BAOIGrayVals = Globals.GetGrayValuesOfLine(ho_B);
HTuple IRAOIGrayVals = Globals.GetGrayValuesOfLine(irImg);
currentFMCData.GrayValues.RPlaneVals = RAOIGrayVals.ToDArr();
currentFMCData.GrayValues.GPlaneVals = GAOIGrayVals.ToDArr();
currentFMCData.GrayValues.BPlaneVals = BAOIGrayVals.ToDArr();
currentFMCData.GrayValues.MPlaneVals = IRAOIGrayVals.ToDArr();
int RPlaneMinValue;
int RPlaneMaxValue;
RAOIGrayVals = RAOIGrayVals.TupleSelectRange(this.CameraAcquisition.CurrentCameraProperties.NumberOfPixelsToBeClippedAtLeft,
this.CameraAcquisition.CurrentImageWidth - this.CameraAcquisition.CurrentCameraProperties.NumberOfPixelsToBeClippedAtRight);
calibrationTargetContrastOK = this.CameraAcquisition.IsLightIntensityLevelOptimum(GAOIGrayVals.ToDArr(), out RPlaneMinValue, out RPlaneMaxValue);
calibrationTargetContrastOK = (RPlaneMaxValue - RPlaneMinValue) > Properties.Settings.Default.FocusPatternCheckReferenceGrayValue;
#endregion
#region FindPatternArea
//Finds the pattern area
HImage reducedImage = Globals.FindPatternArea(grayImage);
if (reducedImage == null)
{
SetFocusStatusMessage("Image is too dark or Incorrect Pattern", Color.Red);
currentFMCData.FocusPercentage = "";
currentFMCData.MagnificationPercentage = "";
currentFMCData.PixelResolution = "";
//this.BeginInvoke(new Action<FocusMagnificationCheckData>(UpdateFocusMagnificationStepUI), currentFMCData);
return;
}
#endregion
#region Focus Learning
hv_focus = new HTuple();
HTuple hv_currentSharpness = new HTuple();
HImage imageCropped = new HImage();
//Indicates that execution has entered the focus learning stage
//(For both successful and failed learning)
bool focusLearningDone = false;
if (this.focusLearningStarted)
{
#region FocusLearningStage
focusLearningDone = true;
if (!this.focusLearningOver)
{
HTuple hv_Scale;
HTuple hv_Subsampling = 1;
hv_Scale = 1.0 / hv_Subsampling;
int grabbedImageWidth, grabbedImageHeight;
imageGrabbed.GetImageSize(out grabbedImageWidth, out grabbedImageHeight);
// Crop the image before learning
imageCropped = imageGrabbed.CropPart((this.CameraAcquisition.CurrentImageHeight / 2) - Properties.Settings.Default.FocusROIRectangleHeight,
(this.CameraAcquisition.CurrentImageWidth / 2) - Properties.Settings.Default.FocusROIRectangleWidth,
Properties.Settings.Default.FocusROIRectangleWidth * 2,
(this.CameraAcquisition.CurrentImageHeight / 2));
int croppedImageWidth, croppedImageHeight;
imageCropped.GetImageSize(out croppedImageWidth, out croppedImageHeight);
int noOfSamples = croppedImageHeight / Properties.Settings.Default.NoOfSamplesUsedInFocusStep;
for (int i = 0; i < Properties.Settings.Default.NoOfSamplesUsedInFocusStep; i++)
{
try
{
int row = i * noOfSamples;
HImage newCroppedImage = imageCropped.CopyImage().CropPart(row, 0, croppedImageWidth, noOfSamples);
//newCroppedImage.WriteImage("bmp", 0, "D:\\imageCropped" + i.ToString());
// Function Call for sharpness Measurement
hv_currentSharpness = MeasureSharpness(newCroppedImage, hv_Scale);
hv_AutoCorrelationTuple = hv_AutoCorrelationTuple.TupleConcat(hv_currentSharpness);
}
catch (Exception ex)
{
}
}
currentFMCData.FocusPercentage = "";
SetFocusStatusMessage("Learning...", Color.Yellow);
UpdateLabelMessage(currentFMCData.FocusPercentage);
}
else
{
hv_MaxAutoCorrelation = new HTuple();
HTuple hv_Change = new HTuple();
if (hv_AutoCorrelationTuple.TupleLength() > 0)
{
hv_MaxAutoCorrelation = hv_AutoCorrelationTuple.TupleMax();
hv_Change = ((hv_AutoCorrelationTuple.TupleMax() - hv_AutoCorrelationTuple.TupleMin()) / hv_AutoCorrelationTuple.TupleMax()) * 100;
if (hv_MaxAutoCorrelation.D <= 0.0 || hv_Change.D < Properties.Settings.Default.MinimumFocusLearningRangeRequired)
{
currentFMCData.FocusPercentage = "";
SetFocusStatusMessage("Focus Learning not done properly. Range of focus learning is not enough.", Color.Orange);
this.focusLearningOver = false;
UpdateLabelMessage(currentFMCData.FocusPercentage);
}
else
{
this.CameraAcquisition.CurrentCameraSetupProperties.FocusMaxAutoCorrelationValue = hv_MaxAutoCorrelation.D;
}
}
else
{
currentFMCData.FocusPercentage = "";
SetFocusStatusMessage("Focus Learning not done properly. Sharpness measurement failed", Color.Orange);
this.focusLearningOver = false;
UpdateLabelMessage(currentFMCData.FocusPercentage);
}
this.focusLearningStarted = false;
}
#endregion
}
else if (this.focusLearningOver)
{
#region FocusTestingPhase
if (!calibrationTargetContrastOK)
{
currentFMCData.FocusPercentage = "";
currentFMCData.MagnificationPercentage = "";
currentFMCData.PixelResolution = "";
SetFocusStatusMessage("Incorrect Pattern. Not enough contrast", Color.Red);
UpdateLabelMessage(currentFMCData.FocusPercentage);
return;
}
HTuple hv_Scale;
HTuple hv_Subsampling = 1;
hv_Scale = 1.0 / hv_Subsampling;
// Crop the image before learning
imageCropped = imageGrabbed.CropPart((this.CameraAcquisition.CurrentImageHeight / 2) - Properties.Settings.Default.FocusROIRectangleHeight,
(this.CameraAcquisition.CurrentImageWidth / 2) - Properties.Settings.Default.FocusROIRectangleWidth,
Properties.Settings.Default.FocusROIRectangleWidth * 2,
(this.CameraAcquisition.CurrentImageHeight / 2));
// Function Call for sharpness Measurement
hv_currentSharpness = MeasureSharpness(imageCropped, hv_Scale);
if (hv_currentSharpness > hv_MaxAutoCorrelation + 2)
{
SetFocusStatusMessage("Current sharpness is more than learnt sharpness. Insert valid calibration doc or Re-do focus learning !!", Color.Orange);
currentFMCData.PixelResolution = "";
currentFMCData.MagnificationPercentage = "";
currentFMCData.FocusPercentage = "";
UpdateLabelMessage(currentFMCData.FocusPercentage);
return;
}
else if (hv_currentSharpness > hv_MaxAutoCorrelation)
{
hv_MaxAutoCorrelation = hv_currentSharpness;
hv_AutoCorrelationTuple = hv_AutoCorrelationTuple.TupleConcat(hv_currentSharpness);
}
hv_focus = 100 - (((hv_MaxAutoCorrelation - hv_currentSharpness) / hv_MaxAutoCorrelation) * 100);
hv_focus = hv_focus.TupleRound();
currentFMCData.FocusPercentage = hv_focus.ToString();
if (hv_focus > 100)
{
// Not Focused
currentFMCData.FocusPercentage = "";
SetFocusStatusMessage("Focus learning not done properly", Color.Red);
UpdateLabelMessage(currentFMCData.FocusPercentage);
}
if (hv_focus >= 95 && hv_focus <= 100)
{
// Focused
SetFocusStatusMessage("Focused", Color.LimeGreen);
}
else if (hv_focus > 70 && hv_focus < 95)
{
//// Fine Tuning is required
SetFocusStatusMessage("Fine Tuning is required", Color.Yellow);
}
else
{
// Not Focused
SetFocusStatusMessage("Not focused", Color.Red);
}
#endregion
}
else if (!focusLearningOver && !focusLearningDone)
{
if (hv_MaxAutoCorrelation == null)
{
SetFocusStatusMessage("Focus learning not done", Color.Yellow);
}
}
UpdateLabelMessage(currentFMCData.FocusPercentage);
#endregion
}
private void hWindowControl2_HMouseMove(object sender, HMouseEventArgs e)
{
HTuple x = 0, y = 0, z = 0;
x = e.X;
y = e.Y;
if (mainForm.ho_MainImagePositiveB != null && mainForm.ImageHeightPositiveB != null)
{
try
{
HOperatorSet.GetGrayval(mainForm.ho_MainImagePositiveB, y, x, out z);
}
catch
{
if (x > 4096)
{
x = 4096;
}
if (y > mainForm.ImageHeightPositiveB)
{
y = mainForm.ImageHeightPositiveB;
}
}
lblPointInfoRowB.Text = y.TupleInt().ToString();
lblPointInfoColumnB.Text = x.TupleInt().ToString();
lblPointInfoGrayValueB.Text = z.ToString();
}
if (!bl_IsMoveB)
{
return;
}
try
{
HTuple row, col;
GetPosB(out row, out col);
dbl_PositionB[2] = col;
dbl_PositionB[3] = row;
double[] vecB = { dbl_PositionB[2] - dbl_PositionB[0], dbl_PositionB[3] - dbl_PositionB[1] };
hv_c1B = hv_c1B - vecB[0];
hv_c2B = hv_c2B - vecB[0];
hv_r1B = hv_r1B - vecB[1];
hv_r2B = hv_r2B - vecB[1];
HOperatorSet.SetPart(hWindowIDTwo, hv_r1B, hv_c1B, hv_r2B, hv_c2B);
//清除halconWindow窗口 ，避免闪屏
HSystem.SetSystem("flush_graphic", "false");
HOperatorSet.ClearWindow(hWindowIDTwo);
HSystem.SetSystem("flush_graphic", "true");
#if CPlusPlus
ShowImage(DE.htup_WindowHandle, DE.bl_showdefect);
#else
HOperatorSet.DispObj(mainForm.ho_MainImagePositiveB, hWindowIDTwo);
#endif
}
catch { }
}
private void Button_Click_Height_Measure(object sender, RoutedEventArgs e)
{
int Cam_idx = global.GetIns().CamSel;
Info_Ctrl Infc = new Info_Ctrl();
if (false == ImageOperate.FindTrackPos(Obj[Cam_idx], this.CamSetting.HalconID, out Infc, ImageOperate.Track_Model, false))
{
return;
}
HObject Ho_Image;
HTuple hv_c = null, hv_r = null;
HOperatorSet.GenEmptyObj(out Ho_Image);
try
{
double Angle = CameraADisp.Disp_Adjust_Line(Obj[Cam_idx], INI.axis_roi[Cam_idx].adjust_r1, INI.axis_roi[Cam_idx].adjust_c1, INI.axis_roi[Cam_idx].adjust_phi, INI.axis_roi[Cam_idx].adjust_r2,
INI.axis_roi[Cam_idx].adjust_c2, this.CamSetting.HalconID, false);
//HOperatorSet.RotateImage(Obj[Cam_idx], out Ho_Image, Angle, "constant");
HOperatorSet.DispObj(Obj[Cam_idx], this.CamSetting.HalconID);
//恢复信息
double r1 = INI.axis_roi[Cam_idx].axis_d1_r1 + Infc.pos_y;
double c1 = INI.axis_roi[Cam_idx].axis_d1_c1 + Infc.pos_x;
CameraADisp.Measure_Diameter(Obj[Cam_idx], r1, c1, new HTuple(-Angle).TupleRad(), INI.axis_roi[Cam_idx].axis_d1_r2, INI.axis_roi[Cam_idx].axis_d1_c2, out hv_c, out hv_r, this.CamSetting.HalconID, false);
//找到垂直线和找到图像的高度和宽度，来找到在哪儿画横线和纵线
HTuple hv_Width, hv_Height, hv_HalfHeight, hv_HalfWidth;
HOperatorSet.GetImageSize(Obj[Cam_idx], out hv_Width, out hv_Height);
hv_HalfHeight = hv_Height / 2;
hv_HalfWidth = hv_c;
CameraADisp.draw_line(hv_HalfHeight, 0, hv_HalfHeight, hv_Width, this.CamSetting.HalconID, "blue");
//操作系统，操作系统本身自带选择功能，qt做映射
//win api
double x = 0;
double y = 0;
CameraADisp.GetPoint(hv_c, hv_r, Angle, out x, out y);
Console.WriteLine("hv_c:" + hv_c.ToString() + " hv_r:" + hv_r.ToString() + " end x:" + x.ToString() + " end y;" + y.ToString());
CameraADisp.draw_line(hv_r, hv_c, y, x, this.CamSetting.HalconID, "green");
CameraADisp.GetPoint(hv_c, hv_r, Angle + 180, out x, out y);
CameraADisp.draw_line(hv_r, hv_c, y, x, this.CamSetting.HalconID, "green");
//INI.axis_roi[Cam_idx].d3_min = hv_c;
INI.axis_roi[Cam_idx].axis_d3_r1 = hv_r;
INI.axis_roi[Cam_idx].axis_d3_c1 = hv_c;
INI.axis_roi[Cam_idx].axis_d3_relative_phi = Angle;
//this.D3_Min.Text = INI.axis_roi[Cam_idx].d3_min.ToString();
INI.writting();
}
catch (HalconException ex)
{
Console.WriteLine(ex.ToString());
}
Ho_Image.Dispose();
}
/// <summary>
///显示当前位置和灰度值
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
public override void ShowPosandGray(double x, double y)
{
try
{
HTuple gray = 0;
if (y > HeightImage ||
x > WidthImage ||
x < 0 ||
y < 0)
{
return;
}
HOperatorSet.GetGrayval(Ho_Image, y, x, out gray);
if (ParCameraWork.P_I.ParCameraWork_L[NoCamera - 1].TypeImageCoord_e != TypeImageCoord_enum.LeftTop)
{
y = HeightImage - y;
}
this.Dispatcher.Invoke(
new Dbl2Action((a, b) =>
{
lblPosGray.Content = string.Format("X{0},Y{1}*({2})", a.ToString("f0"), b.ToString("f0"), gray.ToString());
}),
x, y);
}
catch (Exception ex)
{
Log.L_I.WriteError(NameClass, ex);
}
}