zhusenlin/VisionEdit
1
0
Fork 0
mirror of https://github.com/eggplantlwj/VisionEdit.git synced 2026-04-01 14:46:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

1、添加手眼标定工具，可选择4点或者9点标定，输出标定矩阵

Browse Source 
2、修正Halcon引擎运行工具
3、添加相机SDK工具，但需完善
4、HalconTool取图工具增加选择文件夹功能
5、实现Job窗体可添加多个流程
This commit is contained in:
liu.wenjie
2022-04-21 14:10:04 +08:00
parent 9eb84c6265
commit 7ca84a8720
54 changed files with 5628 additions and 593 deletions
Download Patch File Download Diff File Expand all files Collapse all files

174
EyeHandCalibTool/FormEyeHandCalib.cs Normal file
View File

@@ -0,0 +1,174 @@
using CommonMethods;
using HalconDotNet;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using ViewROI;
namespace EyeHandCalibTool
{
public partial class FormEyeHandCalib : Form
{
public EyeHandCalib myEyeHandCalib = null;
public IToolInfo myToolInfo = new IToolInfo();
public HWindowTool_Smart myHwindow = new HWindowTool_Smart();
public HDrawingObject selected_drawing_object = new HDrawingObject();
public FormEyeHandCalib(ref object eyeHandCalib)
{
InitializeComponent();
_instance = this;
if (eyeHandCalib.GetType().FullName != "System.Object")
{
myToolInfo = (IToolInfo)eyeHandCalib;
myEyeHandCalib = (EyeHandCalib)myToolInfo.tool;
myEyeHandCalib.DispImage();
}
}
/// <summary>
/// 窗体对象实例
/// </summary>
private static FormEyeHandCalib _instance;
public static FormEyeHandCalib Instance
{
get
{
if (_instance != null)
{
lock (_instance)
{
if (_instance == null)
{
object eyeHandCalib = new object();
_instance = new FormEyeHandCalib(ref eyeHandCalib);
}
return _instance;
}
}
else
{
object eyeHandCalib = new object();
_instance = new FormEyeHandCalib(ref eyeHandCalib);
return _instance;
}
}
}
public FormEyeHandCalib()
{
InitializeComponent();
}
private void chbSelectCalibType_SelectedIndexChanged(object sender, EventArgs e)
{
CalibType oldType = myEyeHandCalib.calibType;
myEyeHandCalib.calibType = chbSelectCalibType.SelectedItem.ToString() == "四点标定" ? CalibType.Four_Point : CalibType.Nine_Point;
if(oldType == CalibType.Four_Point && myEyeHandCalib.calibType == CalibType.Nine_Point)
{
for (int i = 0; i < 5; i++)
{
DataRow dr = myEyeHandCalib.CalibSourceDataTable.NewRow();
dr[0] = 0;
dr[1] = 50;
dr[2] = 0;
dr[3] = 50;
myEyeHandCalib.CalibSourceDataTable.Rows.Add(dr);
}
}
else if(oldType == CalibType.Nine_Point && myEyeHandCalib.calibType == CalibType.Four_Point)
{
for (int i = 0; i < 5; i++)
{
myEyeHandCalib.CalibSourceDataTable.Rows.RemoveAt(myEyeHandCalib.CalibSourceDataTable.Rows.Count - 1);
}
}
}
private void FormEyeHandCalib_Load(object sender, EventArgs e)
{
// 若为空，表示该工具未经标定校正
if(myEyeHandCalib.CalibSourceDataTable == null)
{
myEyeHandCalib.InitDataTable();
}
CalibDataGrid.DataSource = myEyeHandCalib.CalibSourceDataTable;
chbSelectCalibType.SelectedItem = myEyeHandCalib.calibType == CalibType.Four_Point ? "四点标定" : "九点标定";
txbScaleX.Text = (Convert.ToDouble(myEyeHandCalib.ScanX.ToString())).ToString("0.00");
txbScaleY.Text = (Convert.ToDouble(myEyeHandCalib.ScanY.ToString())).ToString("0.00");
txbRatation.Text = (Convert.ToDouble(myEyeHandCalib.Rotation.ToString())).ToString("0.00");
txbTheta.Text = (Convert.ToDouble(myEyeHandCalib.Theta.ToString())).ToString("0.00");
txbMoveX.Text = (Convert.ToDouble(myEyeHandCalib.TranslateX.ToString())).ToString("0.00");
txbMoveY.Text = (Convert.ToDouble(myEyeHandCalib.TranslateY.ToString())).ToString("0.00");
}
private void CalibDataGrid_RowPostPaint(object sender, DataGridViewRowPostPaintEventArgs e)
{
using (SolidBrush b = new SolidBrush(
CalibDataGrid.RowHeadersDefaultCellStyle.ForeColor))
{
e.Graphics.DrawString((e.RowIndex + 1).ToString(
System.Globalization.CultureInfo.CurrentCulture),
CalibDataGrid.DefaultCellStyle.Font
, b, e.RowBounds.Location.X + 10, e.RowBounds.Location.Y);
}
}
private void btnImportData_Click(object sender, EventArgs e)
{
myEyeHandCalib.ReadCalibData();
CalibDataGrid.Refresh();
}
private void btnExportData_Click(object sender, EventArgs e)
{
myEyeHandCalib.ExportCalibData();
}
private void btnCalibManual_Click(object sender, EventArgs e)
{
if(myEyeHandCalib.ManulCalib())
{
// 仿射矩阵信息
txbScaleX.Text = (Convert.ToDouble(myEyeHandCalib.ScanX.ToString())).ToString("0.00");
txbScaleY.Text = (Convert.ToDouble(myEyeHandCalib.ScanY.ToString())).ToString("0.00");
txbRatation.Text = (Convert.ToDouble(myEyeHandCalib.Rotation.ToString())).ToString("0.00");
txbTheta.Text = (Convert.ToDouble(myEyeHandCalib.Theta.ToString())).ToString("0.00");
txbMoveX.Text = (Convert.ToDouble(myEyeHandCalib.TranslateX.ToString())).ToString("0.00");
txbMoveY.Text = (Convert.ToDouble(myEyeHandCalib.TranslateY.ToString())).ToString("0.00");
// 映射成功，则保存矩阵
HOperatorSet.WriteTuple(myEyeHandCalib.homMat2D, myEyeHandCalib.homMat2DName + ".tup");
MessageBox.Show("仿射矩阵已经保存成功！");
}
}
/// <summary>
/// 设定工具运行状态
/// </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)
{
if (myEyeHandCalib != null)
{
myEyeHandCalib.runMessage = msg;
myEyeHandCalib.toolRunStatu = status;
lb_RunStatus.Text = myEyeHandCalib.toolRunStatu == ToolRunStatu.Succeed ? "工具运行成功！" : $"工具运行异常, 异常原因：{myEyeHandCalib.runMessage}";
lb_RunTime.Text = myEyeHandCalib.runTime;
statusStrip.BackColor = myEyeHandCalib.toolRunStatu == ToolRunStatu.Succeed ? Color.LimeGreen : Color.Red;
}
}
private void tsbtRunTool_Click(object sender, EventArgs e)
{
myEyeHandCalib.Run(SoftwareRunState.Debug);
}
}
}