private void btnFindTemp_Click(object sender, EventArgs e)
{
CPKTools tools = new CPKTools();
VisionImage align = this.image_Edit.Image;
VisionImage image = Form_Main.Instance.imageSet.Image;
Roi roi = Form_Main.Instance.imageSet.Roi;
short Score = 600;
double MinR = -10;
double MaxR = 10;
short rtn = 0;
Variable.CamReturn camReturn = new Variable.CamReturn();
// 初步匹配
rtn = Form_Main.Instance.CamDetect_SearchGeometric(image, align, roi, Score, 1, MinR, MaxR, 100, 100, 0, 25, ref camReturn, 0, 0);
if (rtn != 0)
{
MessageBox.Show("寻找模板失败,请检查参数!!!");
}
// 记录ROI 的坐标
if (roi.Count > 0)
{
RectangleContour rect = (RectangleContour)roi[0].Shape;
// save rect
string strRoi = string.Format("{0},{1},{2},{3}", rect.Top, rect.Left, rect.Width, rect.Height);
this.cpkIni.IniWriteValue("vision", "TemplateRoi", strRoi);
}
}
private void btnFindTemp2_Click(object sender, EventArgs e)
{
Variable.CamReturn cam = new Variable.CamReturn();
if (VisionHelper.FindNccTemplate(Form_Main.Instance.imageSet.Image, Form_Main.Instance.imageSet.Roi, ModelID, 1, 0.6, 0, 0, 1, 1, ref cam))
{
VisionHelper.ShowResult(Form_Main.Instance.imageSet, cam);
btnFindTemp2.BackColor = Color.Transparent;
}
else
{
btnFindTemp2.BackColor = Color.Red;
}
}
private void button1_Click(object sender, EventArgs e)
{
PointF curPos = Form_Main.VariableSys.pReadyPoint;
CameraDefine.Instance[CAM.Bottom1]._Session.Snap(parent.imageSet.Image);
Variable.CamReturn cam = Form_Main.Instance.Auto_Detect1(ref this.Feeder.Label, parent.imageSet.Image, CAM.Bottom1, 0);
if (cam.IsOK)
{
PointF temp = parent.Point2CCDCenter(curPos, new PointContour(cam.X, cam.Y), CAM.Bottom1, 0);
PointF rotateCenter = parent.Point2CCDCenter(curPos, Form_Main.VariableSys.pDownRotateCenter[0], CAM.Bottom1, 0);
suckPos.X = temp.X - rotateCenter.X;
suckPos.Y = temp.Y - rotateCenter.Y;
this.nSuckPosX.Value = (decimal)suckPos.X;
this.nSuckPosY.Value = (decimal)suckPos.Y;
}
}
public static void ShowResult(ImageViewer View, Variable.CamReturn camreturn)
{
PointF Center = new PointF();
Center.X = (float)camreturn.X;
Center.Y = (float)camreturn.Y;
double R = camreturn.Angle;
//center cross
View.Image.Overlays.Default.AddLine(new LineContour(new PointContour(Center.X - 30, Center.Y), new PointContour(Center.X + 30, Center.Y)), Rgb32Value.YellowColor);
View.Image.Overlays.Default.AddLine(new LineContour(new PointContour(Center.X, Center.Y - 30), new PointContour(Center.X, Center.Y + 30)), Rgb32Value.YellowColor);
PointF a = new PointF();
PointF A = new PointF();
a.X = Center.X + 500;
a.Y = Center.Y;
Form_Main.Instance.PtRotate(a, Center, R, out A);
//Line Direction
View.Image.Overlays.Default.AddLine(new LineContour(new PointContour(Center.X, Center.Y), new PointContour(A.X, A.Y)), Rgb32Value.BlueColor);
}
private void bStartChkCailb_Jig_Click(object sender, EventArgs e)
{
if (!bRun)
{
this.bStartChkCailb_Jig.Text = "正在测量...";
ChkPoint_Jig_Act = new List <PointF>();
bRun = true;
double col = double.Parse(this.textCol_Jig.Text);
double row = double.Parse(this.textRow_Jig.Text);
double rMin = double.Parse(this.tMinR.Text);
double rMax = double.Parse(this.tMaxR.Text);
double gian = double.Parse(this.tGainValue.Text);
double offset = double.Parse(this.tOffsetValue.Text);
if (!Directory.Exists(Variable.sPath_SYS_Jig))
{
Directory.CreateDirectory(Variable.sPath_SYS_Jig);
}
if (File.Exists(Variable.sPath_SYS_Jig + "Pt_Act.txt"))
{
File.Delete(Variable.sPath_SYS_Jig + "Pt_Act.txt");
}
if (File.Exists(Variable.sPath_SYS_Jig + "Pt_Machine.txt"))
{
File.Delete(Variable.sPath_SYS_Jig + "Pt_Machine.txt");
}
if (Thd_Cailb == null || !Thd_Cailb.IsAlive)
{
Thd_Cailb = new Thread(() =>
{
Variable.CamReturn cam = new Variable.CamReturn();
Form_Main.Instance.StartGrabImage();
for (int i = 0; i < chkPoint_Jig.Count; i++)
{
#region 开始测量
try
{
if (!bRun)
{
MessageBox.Show("停止侦测", "提示");
return;
}
PointF Pt_Act = new PointF();
Pt_Act.X = (float)Math.Floor(i / col);
Pt_Act.Y = (float)(i - col * Pt_Act.X);
ChkPoint_Jig_Act.Add(Pt_Act);
PointF Pt_Machine = new PointF();
Form_Main.Instance.XYGoPosTillStop(20 * 1000, this.chkPoint_Jig[i], variable);
// 获得上相机图像
VisionImage image = Form_Main.Instance.GrabImage2View(Camera.CAM.Top);
image = Form_Main.Instance.GainOffset(image, gian, offset);
Algorithms.Copy(image, Form_Main.Instance.imageSet.Image);
PointContour centr = new PointContour();
double rad = 0;
if (VisionHelper.DetectCircle(Form_Main.Instance.imageSet.Image, Form_Main.Instance.imageSet.Roi, rMin, rMax, out centr, out rad))
{
cam.X = centr.X;
cam.Y = centr.Y;
cam.IsOK = true;
VisionHelper.ShowResult(Form_Main.Instance.imageSet, cam);
Pt_Machine = Form_Main.Instance.Point2CCDCenter(this.chkPoint_Jig[i], new PointContour(cam.X, cam.Y), 0, 0);
}
else
{
throw new Exception("寻找模板失败");
}
//if (VisionHelper.FindNccTemplate(Form_Main.Instance.imageSet.Image, Form_Main.Instance.imageSet.Roi, ModelID, 1, 0.5, 0, 0, 1, 1, ref cam))
//{
// VisionHelper.ShowResult(Form_Main.Instance.imageSet, cam);
// Pt_Machine = Form_Main.Instance.Point2CCDCenter(this.chkPoint_Jig[i], new PointContour(cam.X, cam.Y), 0);
//}
//else
//{
// throw new Exception("寻找模板失败");
//}
ChkPoint_Jig_Act.Add(Pt_Machine);
StreamWriter sw = File.AppendText(Variable.sPath_SYS_Jig + "Pt_Act.txt");
sw.Write(Pt_Act.X.ToString("F3") + "," + Pt_Act.Y.ToString("F3") + "\r\n");
sw.Close();
StreamWriter sw1 = File.AppendText(Variable.sPath_SYS_Jig + "Pt_Machine.txt");
sw1.Write(Pt_Machine.X.ToString("F3") + "," + Pt_Machine.Y.ToString("F3") + "\r\n");
sw1.Close();
}
catch (Exception ex)
{
if (MessageBox.Show($"侦测失败:{ex.Message} 是否重新识别 Y/N ", "提示", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
i--;
continue;
}
else
{
MessageBox.Show("玻璃杯校验停止!!!");
bRun = false;
return;
}
}
#endregion
}
});
Thd_Cailb.Start();
}
}
else
{
if (MessageBox.Show("是否停止测量", "警告", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
this.bStartChkCailb_Jig.Text = "开始测量";
bRun = false;
}
}
}
public static void FindShapeModel(HObject image, RectangleContour roi, HTuple modeID, ref Variable.CamReturn cam,
HTuple windowTuple = null, double minScore = 0.7, int matchNum = 1)
{
minScore = 0.5;
HTuple row, column, angle, scaleR, scaleC, score;
HObject reduceImage = new HObject();
try
{
HRegion region = new HRegion();
if (roi == null)
{
reduceImage = image;
}
else
{
region = new HRegion(roi.Top, roi.Left, roi.Top + roi.Height, roi.Left + roi.Width);
HOperatorSet.ReduceDomain(image, region, out reduceImage);
}
HOperatorSet.FindAnisoShapeModel(reduceImage, modeID, startAngle, endAngle, 0.8, 1.2, 0.8, 1.2, minScore, matchNum,
0.5, "least_squares", 0, 0.9, out row, out column, out angle, out scaleR, out scaleC, out score);
image?.Dispose();
if (score.Length > 0)
{
cam.XScale = scaleC.D;
cam.YScale = scaleR.D;
cam.Y = row[0].D;
cam.X = column[0].D;
cam.Angle = new HTuple(angle[0].D).TupleDeg();
if (Math.Abs(cam.Angle) > 45 /*90 */)
{
if (cam.Angle > 0)
{
cam.Angle -= 180;
}
else
{
cam.Angle += 180;
}
}
cam.Angle = -cam.Angle;
cam.IsOK = true;
if (windowTuple != null)
{
HTuple hv_HomMat2D;
HObject ho_Contours, ho_TransContours;
HOperatorSet.VectorAngleToRigid(0, 0, 0, row[0], column[0], angle[0], out hv_HomMat2D);
HOperatorSet.GetShapeModelContours(out ho_Contours, modeID, 1);
HOperatorSet.AffineTransContourXld(ho_Contours, out ho_TransContours, hv_HomMat2D);
HOperatorSet.SetColor(windowTuple, "red");
HOperatorSet.DispObj(ho_TransContours, windowTuple);
ho_Contours?.Dispose();
ho_TransContours?.Dispose();
}
}
else
{
cam.IsOK = false;
}
reduceImage?.Dispose();
image?.Dispose();
}
catch
{
cam.IsOK = false;
reduceImage?.Dispose();
image?.Dispose();
}
}
private void bAutoSet_Click(object sender, EventArgs e)
{
if (this.cbLabelIndex.SelectedIndex < 0)
{
return;
}
int labelIndex = this.cbLabelIndex.SelectedIndex;
//Task.Factory.StartNew(() =>
//{
try
{
var vel = Form_Main.VariableSys.VelMode_Current_Manual;
parent.All_ZGoSafeTillStop(3000, vel);
parent.XYGoPosTillStop(5000, Form_Main.VariableSys.pReadyPoint, vel);
parent.Turn.GoPosTillStop(5000, Form_Main.VariableSys.dTurnXIAngle, vel);
PointF camPt = new PointF();
camPt.X = float.Parse(this.FeederCtrl.Rows[labelIndex].Cells[0].Value.ToString());
camPt.Y = float.Parse(this.FeederCtrl.Rows[labelIndex].Cells[1].Value.ToString());
PointF nzPt = parent.Nz1ToOther(camPt, this.Nozzle);
double zHeight = this.Feeder.XIHeight[labelIndex][this.Nozzle];
double xiAngle = this.Feeder.XI_Degree[this.Nozzle];
Z_RunParam zParam = parent.Z_RunParamMap[(uint)this.Nozzle];
R_RunParam rParam = parent.R_RunParamMap[(uint)this.Nozzle];
zParam.PO_vaccum.ResetIO();
zParam.XI_vaccum.ResetIO();
parent.XYGoPosTillStop(5000, nzPt, vel);
rParam.GoPosTillStop(5000, xiAngle, vel);
if (this.Feeder.bReachXI)
{
zParam.XI_vaccum.SetIO();
}
else
{
zParam.XI_vaccum.ResetIO();
}
zParam.GoPosTillStop(5000, zHeight, vel);
zParam.XI_vaccum.SetIO();
Thread.Sleep(Form_Main.VariableSys.iDelay_BeforeXI);
var camera = Form_Main.Nozzle2Cam(this.Nozzle);
parent.LightON_Down_PASTE1(ref this.Feeder.Label);
parent.SetShutter((int)this.Feeder.Label.Shutter1, camera.Item1);
parent.All_ZGoSafeTillStop(5000, vel);
if (!parent.All_ZReachOrg())
{
return;
}
parent.XYGoPosTillStop(5000, Form_Main.VariableSys.pReadyPoint, vel);
parent.Turn.GoPosTillStop(5000, Form_Main.VariableSys.dTurnPasteAngle, vel);
// 拍照
Thread.Sleep(Form_Main.VariableSys.iDownCamDelay);
PointF curPos = Form_Main.VariableSys.pReadyPoint;
CameraDefine.Instance[camera.Item1]._Session.Snap(parent.imageSet.Image);
Variable.CamReturn cam = Form_Main.Instance.Auto_Detect1(ref this.Feeder.Label, parent.imageSet.Image, camera.Item1, this.Nozzle);
if (cam.IsOK)
{
// 识别出来的位置
PointF temp = parent.Point2CCDCenter(curPos, new PointContour(cam.X, cam.Y), camera.Item1, camera.Item2);
PointF rotateCenter = parent.Point2CCDCenter(curPos, Form_Main.VariableSys.pDownRotateCenter[0], camera.Item1, camera.Item2);
/// 识别与吸嘴旋转中心的误差
PointF offset = new PointF();
offset.X = temp.X - rotateCenter.X;
offset.Y = temp.Y - rotateCenter.Y;
this.nOffsetX.Value = (decimal)offset.X;
this.nOffsetY.Value = (decimal)offset.Y;
}
}
catch { }
//});
}
/// <summary>
/// NCC模板匹配-Roi-HObject
/// </summary>
/// <param name="img"></param>
/// <param name="Roi"></param>
/// <param name="ModelID"></param>
/// <param name="MaxReturns"></param>
/// <param name="MinScore"></param>
/// <param name="MinAngle"></param>
/// <param name="MaxAngle"></param>
/// <param name="MinScal"></param>
/// <param name="MaxScal"></param>
/// <param name="matchresults"></param>
/// <returns></returns>
public static bool FindNccTemplate(VisionImage img, Roi Roi, HTuple ModelID, int MaxReturns, double MinScore, double MinAngle, double MaxAngle, double MinScal, double MaxScal, ref Variable.CamReturn camreturn)//, double MaxOverlap, double Greediness)
{
img.Type = ImageType.U8;
HObject Himage = null, HRoi = null;
HObject imgreduced = null;
HTuple FindRow, FindColumn, FindAngle, FindScore;
try
{
img.BorderWidth = 0;
HOperatorSet.GenImage1(out Himage, "byte", img.Width, img.Height, img.StartPtr);
//HOperatorSet.WriteImage(Himage, "bmp", 0, "D:\\1.bmp");
HOperatorSet.GenRectangle1(out HRoi, ((RectangleContour)Roi[0].Shape).Top, ((RectangleContour)Roi[0].Shape).Left, ((RectangleContour)Roi[0].Shape).Top + ((RectangleContour)Roi[0].Shape).Height, ((RectangleContour)Roi[0].Shape).Left + ((RectangleContour)Roi[0].Shape).Width);
HOperatorSet.ReduceDomain(Himage, HRoi, out imgreduced);//image_rectified
HOperatorSet.FindNccModel(imgreduced, ModelID, (new HTuple(MinAngle)).TupleRad(), (new HTuple(MaxAngle)).TupleRad(), MinScore, MaxReturns, 0.5, "true",
0, out FindRow, out FindColumn, out FindAngle, out FindScore);
if (FindRow.Length == 0)
{
camreturn.X = 0;
camreturn.Y = 0;
camreturn.Angle = 0;
camreturn.IsOK = false;
Himage.Dispose();
HRoi.Dispose();
imgreduced.Dispose();
return(false);
}
else
{
camreturn.X = float.Parse(FindColumn[0].D.ToString());
camreturn.Y = float.Parse(FindRow[0].D.ToString());
camreturn.Angle = FindAngle[0].D;
camreturn.IsOK = true;
Himage.Dispose();
HRoi.Dispose();
imgreduced.Dispose();
return(true);
}
}
catch (Exception a)
{
//PutInLog("玻璃板错误：" + a.Message);
camreturn.X = 0;
camreturn.Y = 0;
camreturn.Angle = 0;
camreturn.IsOK = false;
//HOperatorSet.ClearObj(Himage);
//HOperatorSet.ClearObj(HRoi);
//HOperatorSet.ClearObj(imgreduced);
if (Himage != null)
{
Himage.Dispose();
}
if (HRoi != null)
{
HRoi.Dispose();
}
if (imgreduced != null)
{
imgreduced.Dispose();
}
return(false);
}
}
