1、修复找线工具的selectObject无法实时跟随的问题

2、可以重定义找线工具的初始位置
3、在工具初始化时加入防止其他事件更改UI参数的逻辑，以解决工具参数无法保存的bug

FindLine/FindLine.cs

@@ -16,10 +16,53 @@ namespace FindLineTool
         /// </summary>
         public PosXYU inputPose = new PosXYU();
         /// <summary>
+        /// 输入姿态
+        /// </summary>
+        public HTuple inputPoseHomMat2D = new HTuple();
+        /// <summary>
+<<<<<<< HEAD
+<<<<<<< HEAD
+<<<<<<< HEAD
+<<<<<<< HEAD
+<<<<<<< HEAD
+<<<<<<< HEAD
+<<<<<<< HEAD
+=======
+>>>>>>> 751e985 (1、修复找线工具的selectObject无法实时跟随的问题)
+=======
+>>>>>>> 8c64a4f (1、修复找线工具的selectObject无法实时跟随的问题)
+=======
+>>>>>>> 751e985 (1、修复找线工具的selectObject无法实时跟随的问题)
+        /// 位置修正姿态
+        /// </summary>
+        public HTuple changePoseHomMat2D = new HTuple();
+        /// <summary>
+        /// 制作模板时的位姿
+<<<<<<< HEAD
+<<<<<<< HEAD
+<<<<<<< HEAD
+=======
+=======
+>>>>>>> fa76389 (修正FindLine工具无法位置跟随的问题)
+=======
+>>>>>>> b070592 (修正FindLine工具无法位置跟随的问题)
+=======
+>>>>>>> fa76389 (修正FindLine工具无法位置跟随的问题)
         /// 制作模板时的输入位姿
+>>>>>>> b070592 (修正FindLine工具无法位置跟随的问题)
+=======
+>>>>>>> 751e985 (1、修复找线工具的selectObject无法实时跟随的问题)
+=======
+>>>>>>> 8c64a4f (1、修复找线工具的selectObject无法实时跟随的问题)
+=======
+>>>>>>> 751e985 (1、修复找线工具的selectObject无法实时跟随的问题)
         /// </summary>
         public PosXYU templatePose = new PosXYU();
         /// <summary>
+        /// 修改的位姿
+        /// </summary>
+        public HTuple changedPose = new HTuple();
+        /// <summary>
         /// 卡尺
         /// </summary>
         public HObject contoursDisp = null;
@@ -50,7 +93,11 @@ namespace FindLineTool
         /// <summary>
         /// 新的跟随姿态变化后的预期线信息
         /// </summary>
-        HTuple newExpectLineStartRow = new HTuple(200), newExpectLineStartCol = new HTuple(200), newExpectLineEndRow = new HTuple(200), newExpectLineEndCol = new HTuple(600);
+        public HTuple modelStartRow = new HTuple(200), modelStartCol = new HTuple(200), modelEndRow = new HTuple(200), modelEndCol = new HTuple(600);
+        /// <summary>
+        /// 新的跟随姿态变化后的预期线信息
+        /// </summary>
+        public HTuple newExpectLineStartRow = new HTuple(200), newExpectLineStartCol = new HTuple(200), newExpectLineEndRow = new HTuple(200), newExpectLineEndCol = new HTuple(600);
         ///// <summary>
         ///// 区域中心行坐标
         ///// </summary>
@@ -214,7 +261,16 @@ namespace FindLineTool
             FormFindLine.Instance.myHwindow.DispHWindow.ClearWindow();
             DispImage();
         }
-        
+        // 更新模板线的位置，并生成变换矩阵
+        public void UpdateModelLineLocation()
+        {
+            // 计算新的位置线和转换之后位置线之间的差异，再将差异补偿到模板位置线中
+            HOperatorSet.VectorToSimilarity(new HTuple(newExpectLineStartRow, newExpectLineEndRow), new HTuple(newExpectLineStartCol, newExpectLineEndCol),
+                new HTuple(expectLineStartRow, expectLineEndRow), new HTuple(expectLineStartCol, expectLineEndCol), out changePoseHomMat2D);
+            // 更新位置
+            HOperatorSet.AffineTransPixel(changePoseHomMat2D, modelStartRow, modelStartCol, out modelStartRow, out modelStartCol);
+            HOperatorSet.AffineTransPixel(changePoseHomMat2D, modelEndRow, modelEndCol, out modelEndRow, out modelEndCol);
+        }
 
         public override void Run(SoftwareRunState softwareRunState)
         {
@@ -235,20 +291,62 @@ namespace FindLineTool
                 {
                     UpdateImage();
                 }
-                if (inputPose != null)
+                if (inputPoseHomMat2D != null)
                 {
-                    HTuple Row = inputPose.X - templatePose.X;
-                    HTuple Col = inputPose.Y - templatePose.Y;
-                    HTuple angle = inputPose.U - templatePose.U;
+<<<<<<< HEAD
+<<<<<<< HEAD
+<<<<<<< HEAD
+<<<<<<< HEAD
+<<<<<<< HEAD
+<<<<<<< HEAD
+<<<<<<< HEAD
+                    //对预期线的起始点做放射变换
+                    HOperatorSet.AffineTransPixel(inputPoseHomMat2D, modelStartRow, modelStartCol, out newExpectLineStartRow, out newExpectLineStartCol);
+                    HOperatorSet.AffineTransPixel(inputPoseHomMat2D, modelEndRow, modelEndCol, out newExpectLineEndRow, out newExpectLineEndCol);
+=======
+=======
+>>>>>>> fa76389 (修正FindLine工具无法位置跟随的问题)
+=======
+>>>>>>> b070592 (修正FindLine工具无法位置跟随的问题)
+=======
+>>>>>>> fa76389 (修正FindLine工具无法位置跟随的问题)
+                    //HTuple Row = inputPose.X - templatePose.X;
+                    //HTuple Col = inputPose.Y - templatePose.Y;
+                    //HTuple angle = inputPose.U - templatePose.U;
 
-                    HTuple _homMat2D;
-                    HOperatorSet.HomMat2dIdentity(out _homMat2D);
-                    HOperatorSet.HomMat2dRotate(_homMat2D, (HTuple)(angle), (HTuple)templatePose.X, (HTuple)templatePose.Y, out _homMat2D);
-                    HOperatorSet.HomMat2dTranslate(_homMat2D, (HTuple)(Row), (HTuple)(Col), out _homMat2D);
+                    //HTuple _homMat2D;
+                    //HOperatorSet.HomMat2dIdentity(out _homMat2D);
+                    //HOperatorSet.HomMat2dRotate(_homMat2D, (HTuple)(angle), (HTuple)templatePose.X, (HTuple)templatePose.Y, out _homMat2D);
+                    //HOperatorSet.HomMat2dTranslate(_homMat2D, (HTuple)(Row), (HTuple)(Col), out _homMat2D);
 
                     //对预期线的起始点做放射变换
-                    HOperatorSet.AffineTransPixel(_homMat2D, (HTuple)expectLineStartRow, (HTuple)expectLineStartCol, out newExpectLineStartRow, out newExpectLineStartCol);
-                    HOperatorSet.AffineTransPixel(_homMat2D, (HTuple)expectLineEndRow, (HTuple)expectLineEndCol, out newExpectLineEndRow, out newExpectLineEndCol);
+                    HOperatorSet.AffineTransPixel(inputPoseHomMat2D, (HTuple)expectLineStartRow, (HTuple)expectLineStartCol, out newExpectLineStartRow, out newExpectLineStartCol);
+                    HOperatorSet.AffineTransPixel(inputPoseHomMat2D, (HTuple)expectLineEndRow, (HTuple)expectLineEndCol, out newExpectLineEndRow, out newExpectLineEndCol);
+<<<<<<< HEAD
+<<<<<<< HEAD
+<<<<<<< HEAD
+>>>>>>> b070592 (修正FindLine工具无法位置跟随的问题)
+=======
+>>>>>>> fa76389 (修正FindLine工具无法位置跟随的问题)
+=======
+                    //对预期线的起始点做放射变换
+                    HOperatorSet.AffineTransPixel(inputPoseHomMat2D, modelStartRow, modelStartCol, out newExpectLineStartRow, out newExpectLineStartCol);
+                    HOperatorSet.AffineTransPixel(inputPoseHomMat2D, modelEndRow, modelEndCol, out newExpectLineEndRow, out newExpectLineEndCol);
+>>>>>>> 751e985 (1、修复找线工具的selectObject无法实时跟随的问题)
+=======
+                    //对预期线的起始点做放射变换
+                    HOperatorSet.AffineTransPixel(inputPoseHomMat2D, modelStartRow, modelStartCol, out newExpectLineStartRow, out newExpectLineStartCol);
+                    HOperatorSet.AffineTransPixel(inputPoseHomMat2D, modelEndRow, modelEndCol, out newExpectLineEndRow, out newExpectLineEndCol);
+>>>>>>> 8c64a4f (1、修复找线工具的selectObject无法实时跟随的问题)
+=======
+>>>>>>> b070592 (修正FindLine工具无法位置跟随的问题)
+=======
+>>>>>>> fa76389 (修正FindLine工具无法位置跟随的问题)
+=======
+                    //对预期线的起始点做放射变换
+                    HOperatorSet.AffineTransPixel(inputPoseHomMat2D, modelStartRow, modelStartCol, out newExpectLineStartRow, out newExpectLineStartCol);
+                    HOperatorSet.AffineTransPixel(inputPoseHomMat2D, modelEndRow, modelEndCol, out newExpectLineEndRow, out newExpectLineEndCol);
+>>>>>>> 751e985 (1、修复找线工具的selectObject无法实时跟随的问题)
                 }
                 else
                 {

FindLine/FindLineTool.csproj

@@ -34,6 +34,9 @@
     <Reference Include="halcondotnet">
       <HintPath>C:\Program Files\MVTec\HALCON-19.05-Progress\bin\dotnet20\halcondotnet.dll</HintPath>
     </Reference>
+    <Reference Include="SunnyUI">
+      <HintPath>..\VisionEdit\bin\Debug\ThirdLib\SunnyUI.dll</HintPath>
+    </Reference>
     <Reference Include="System" />
     <Reference Include="System.Core" />
     <Reference Include="System.Drawing" />

FindLine/FindLineToolRun.cs

@@ -59,7 +59,7 @@ namespace FindLineTool
                             myFindLine.inputImage = myJob.GetToolInfoByToolName(sourceToolName).GetOutput(toolItem).value as HObject;
                             break;
                         case "InputPos":
-                            myFindLine.inputPose = myJob.GetToolInfoByToolName(sourceToolName).GetOutput(toolItem).value as PosXYU;
+                            myFindLine.inputPoseHomMat2D = myJob.GetToolInfoByToolName(sourceToolName).GetOutput(toolItem).value as HTuple;
                             break;
                         default:
                             break;

FindLine/FormFindLine.Designer.cs

@@ -71,6 +71,7 @@ namespace FindLineTool
             this.label7 = new System.Windows.Forms.Label();
             this.label10 = new System.Windows.Forms.Label();
             this.label9 = new System.Windows.Forms.Label();
+            this.btnSetModelPose = new Sunny.UI.UISymbolButton();
             this.toolStrip1.SuspendLayout();
             this.statusStrip.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).BeginInit();
@@ -189,6 +190,7 @@ namespace FindLineTool
             // 
             // groupBox1
             // 
+            this.groupBox1.Controls.Add(this.btnSetModelPose);
             this.groupBox1.Controls.Add(this.label6);
             this.groupBox1.Controls.Add(this.tbx_minScore);
             this.groupBox1.Controls.Add(this.label5);
@@ -544,6 +546,20 @@ namespace FindLineTool
             this.label9.TabIndex = 105;
             this.label9.Text = "起点列坐标：";
             // 
+            // btnSetModelPose
+            // 
+            this.btnSetModelPose.Cursor = System.Windows.Forms.Cursors.Hand;
+            this.btnSetModelPose.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btnSetModelPose.IsScaled = false;
+            this.btnSetModelPose.Location = new System.Drawing.Point(40, 437);
+            this.btnSetModelPose.MinimumSize = new System.Drawing.Size(1, 1);
+            this.btnSetModelPose.Name = "btnSetModelPose";
+            this.btnSetModelPose.Size = new System.Drawing.Size(352, 35);
+            this.btnSetModelPose.Symbol = 361771;
+            this.btnSetModelPose.TabIndex = 334;
+            this.btnSetModelPose.Text = "标定为模板位置";
+            this.btnSetModelPose.Click += new System.EventHandler(this.btnSetModelPose_Click);
+            // 
             // FormFindLine
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
@@ -624,5 +640,6 @@ namespace FindLineTool
         private System.Windows.Forms.ToolStripStatusLabel lb_RunStatus;
         private System.Windows.Forms.ToolStripStatusLabel toolStripStatusLabel1;
         private System.Windows.Forms.ToolStripStatusLabel lb_RunTime;
+        private Sunny.UI.UISymbolButton btnSetModelPose;
     }
 }

FindLine/FormFindLine.cs

@@ -67,8 +67,10 @@ namespace FindLineTool
             myHwindow.Dock = DockStyle.Fill;
             InitTool();
         }
+        bool isInit = false;
         private void InitTool()
         {
+            isInit = true;
             this.Text = myToolInfo.toolName;
             Application.DoEvents();
 
@@ -84,14 +86,16 @@ namespace FindLineTool
             tbx_caliperLength2.Text = myFindLine.weidth.ToString();
             chBDispRec.Checked = myFindLine.dispRec;
             chBDispCross.Checked = myFindLine.dispCross;
-            // 将要编辑的线显示
-            selected_drawing_object = HDrawingObject.CreateDrawingObject(HDrawingObject.HDrawingObjectType.LINE, new HTuple[] { myFindLine.expectLineStartRow, myFindLine.expectLineStartCol, myFindLine.expectLineEndRow, myFindLine.expectLineEndCol });
+            //// 将要编辑的线显示
+            selected_drawing_object = myFindLine.inputPoseHomMat2D != null? HDrawingObject.CreateDrawingObject(HDrawingObject.HDrawingObjectType.LINE, new HTuple[] { myFindLine.newExpectLineStartRow, myFindLine.newExpectLineStartCol, myFindLine.newExpectLineEndRow, myFindLine.newExpectLineEndCol })
+                :HDrawingObject.CreateDrawingObject(HDrawingObject.HDrawingObjectType.LINE, new HTuple[] {myFindLine.modelStartRow, myFindLine.modelStartCol, myFindLine.modelEndRow, myFindLine.modelEndCol });
             GC.KeepAlive(selected_drawing_object);
             selected_drawing_object.OnSelect(OnSelectDrawingObject);
             selected_drawing_object.OnAttach(OnSelectDrawingObject);
             selected_drawing_object.OnResize(OnSelectDrawingObject);
             selected_drawing_object.OnDrag(OnSelectDrawingObject);
             myHwindow.DispHWindow.AttachDrawingObjectToWindow(selected_drawing_object);
+            isInit = false;
         }
         /// <summary>
         /// 参数回调
@@ -122,7 +126,7 @@ namespace FindLineTool
         }
         /// <summary>
         /// 设定工具运行状态
-        /// </summary>
+        /// </summary>`
         /// <param name="msg">运行中的信息</param>
         /// <param name="status">运行状态</param>
         public void SetToolStatus(string msg, ToolRunStatu status)
@@ -146,8 +150,11 @@ namespace FindLineTool
 
         private void DispSetCheck(object sender, EventArgs e)
         {
-            myFindLine.dispRec = chBDispRec.Checked ? true : false;
-            myFindLine.dispCross = chBDispCross.Checked ? true : false;
+            if(!isInit)
+            {
+                myFindLine.dispRec = chBDispRec.Checked ? true : false;
+                myFindLine.dispCross = chBDispCross.Checked ? true : false;
+            }
         }
 
         private void FormFindLine2_FormClosing(object sender, FormClosingEventArgs e)
@@ -157,5 +164,11 @@ namespace FindLineTool
             this.Dispose();
             GC.Collect();
         }
+
+        private void btnSetModelPose_Click(object sender, EventArgs e)
+        {
+            myFindLine.UpdateModelLineLocation();
+            MessageBox.Show("模板线位置已更新");
+        }
     }
 }