private void ToolStripMenuItemSetLocation_Click(object sender, EventArgs e)
{
if (m_templateSet == null || m_templateSet.IsDisposed)
{
m_templateSet = new TemplateSetForm();
if (checkBoxCameraAcquisition.Checked)
{
checkBoxCameraAcquisition.Checked = false;
checkBoxCameraAcquisition_CheckedChanged(null, null);
m_templateSet.ImageInput = aqDisplayLocation.Image.Clone() as Bitmap;
}
else
{
Bitmap location = null;
Bitmap detection = null;
m_Acquisition.Acquisition(ref location, ref detection);
aqDisplayLocation.Invoke(new MethodInvoker(delegate
{
aqDisplayLocation.Image = location;
aqDisplayLocation.FitToScreen();
aqDisplayLocation.Update();
}));
m_templateSet.ImageInput = aqDisplayLocation.Image.Clone() as Bitmap;
}
}
m_templateSet.Show();
m_templateSet.Focus();
}
private int TriggerCamera(double robotX, double robotY, double robotRz)
{
Tool.DebugInfo.OutputProcessMessage("Integraton TriggerCamera beg< ");
int locationResult = -1;
try
{
if (m_templateSet.IsDisposed || m_templateSet == null)
{
m_templateSet = new TemplateSetForm();
}
if (m_calibrateShow.IsDisposed || m_calibrateShow == null)
{
m_calibrateShow = new CalibrationSetForm();
}
checkBoxCameraAcquisition.Invoke(new MethodInvoker(delegate
{
aqDisplayLocation.InteractiveGraphics.Clear();
aqDisplayLocation.Update();
if (checkBoxCameraAcquisition.Checked)
{
checkBoxCameraAcquisition.Checked = false;
checkBoxCameraAcquisition_CheckedChanged(null, null);
m_templateSet.ImageInput = aqDisplayLocation.Image.Clone() as Bitmap;
}
else
{
Tool.DebugInfo.OutputProcessMessage("Integraton Integraton TriggerCamera acquisition beg< ");
Bitmap location = null;
Bitmap detection = null;
m_Acquisition.Acquisition(ref location, ref detection); //853
aqDisplayLocation.Invoke(new MethodInvoker(delegate
{
aqDisplayLocation.Image = location;
aqDisplayLocation.FitToScreen();
aqDisplayLocation.Update();
}));
if (m_templateSet.ImageInput != null)//936.9
{
m_templateSet.ImageInput.Dispose();
}
m_templateSet.ImageInput = location.Clone() as Bitmap;
Tool.DebugInfo.OutputProcessMessage("Integraton TriggerCamera acquisition end> ");
}
triggerLocationResult.Clear();
locationResult = m_templateSet.RunMatcher(Application.StartupPath + @"\location\ModelNormal.shm");
if (locationResult == 0)
{
for (int i = 0; i < m_templateSet.LocationResultPosTheta.Length; i++)
{
LocationResultSet result = new LocationResultSet();
result.CenterX = m_templateSet.LocationResultPosX[i];
result.CenterY = m_templateSet.LocationResultPosY[i];
result.Posture = ProductPosture.Normal;
result.Angle = m_templateSet.LocationResultPosTheta[i];
result.Transmited = false;
result.Score = m_templateSet.Score[i];
triggerLocationResult.Add(result);
m_templateSet.ShowGetResultsData(AqColorConstants.Green, aqDisplayLocation);
}
}
if (triggerLocationResult.Count == 0) //未抓到水平放置，才去抓取竖直放置
{
locationResult = m_templateSet.RunMatcher(Application.StartupPath + @"\location\ModelVertical.shm");
if (locationResult == 0)
{
for (int i = 0; i < m_templateSet.LocationResultPosTheta.Length; i++)
{
LocationResultSet result = new LocationResultSet();
result.CenterX = m_templateSet.LocationResultPosX[i];
result.CenterY = m_templateSet.LocationResultPosY[i];
result.Posture = ProductPosture.Vertical;
result.Angle = m_templateSet.LocationResultPosTheta[i];
result.Transmited = false;
result.Score = m_templateSet.Score[i];
triggerLocationResult.Add(result);
m_templateSet.ShowGetResultsData(AqColorConstants.Green, aqDisplayLocation);
}
}
}
Tool.DebugInfo.OutputProcessMessage("Integraton TriggerCamera RunMatcher end> ");
m_calibrateShow.SetCurrentRobotPosition(robotX, robotY, robotRz);
//AddMessageToListView("Suc");
string showScoreAll = null;
for (int i = 0; i < triggerLocationResult.Count; i++)
{
showScoreAll += (triggerLocationResult[i].Score * 100).ToString("f3") + "\n";
}
labelLocationScore.Text = showScoreAll;
labelLocationScore.ForeColor = Color.Lime;
if (triggerLocationResult.Count == 1)
{
locationResult = 1; //定位到1个产品
}
else if (triggerLocationResult.Count == 2)
{
locationResult = 2; //定位到1个产品
}
else if (triggerLocationResult.Count > 2)
{
locationResult = triggerLocationResult.Count;
}
}));
//SaveImageToFile(aqDisplayLocation, m_templateSet.ImageInput, @"D:\Location\");//1146.88
//AddMessageToListView("TriggerCameraDone");
GC.Collect();
Tool.DebugInfo.OutputProcessMessage("Integraton TriggerCamera collect ------------------");
}
catch (Exception ex)
{
//MessageBox.Show("TriggerCamera " + ex.Message);
locationResult = -2;
}
m_locationCount++;
Tool.DebugInfo.OutputProcessMessage(string.Format("Integraton TriggerCamera locationResult = {0}", locationResult));
return(locationResult);
}