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增加卡尺工具，修复了一些bug

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liu.wenjie
2019-08-13 13:57:51 +08:00
committed by liu.wenjie
parent 4dbab27caf
commit ca7c7ec644
132 changed files with 1315 additions and 259 deletions
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225
CaliperTool/CaliperTool.cs
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@@ -5,12 +5,14 @@ using System.Text;
using System.Threading.Tasks;
using CommonMethods;
using HalconDotNet;
using HalconWindow.HalconWindow;
using ToolBase;
using static DataStruct.DataStruct;
namespace CaliperTool
{
[Serializable]
public class CaliperTool:IToolInfo
public class Caliper: IToolBase
{
public bool toolEnable = true;
/// <summary>
@@ -48,11 +50,11 @@ namespace CaliperTool
/// <summary>
/// 卡尺高
/// </summary>
public int length1 = 40;
public HTuple length1 = 40;
/// <summary>
/// 卡尺宽
/// </summary>
public int length2 = 40;
public HTuple length2 = 40;
/// <summary>
/// 找边极性，从明到暗或从暗到明
/// </summary>
@@ -77,86 +79,189 @@ namespace CaliperTool
/// 交点显示
/// </summary>
public bool dispCross = true;
/// <summary>
/// 找到的线段
/// <summary
/// 是否显示的线
/// </summary>
public Point resultPoint = null;
/// <summary>
/// 显示的线
/// </summary>
public HObject LineDisp = null;
public bool LineDisp = true;
/// <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);
HTuple newExpectRecStartRow = new HTuple(200), newExpectRecStartColumn = new HTuple(200), newExpectPhi = new HTuple(0);
/// <summary>
/// 查找到的线的起点行坐标
/// </summary>
private HTuple _resultLineStartRow = 0;
internal HTuple ResultLineStartRow
private HTuple _resultRow = 0;
public HTuple ResulttRow
{
get
{
_resultLineStartRow = Math.Round((double)_resultLineStartRow, 3);
return _resultLineStartRow;
_resultRow = Math.Round((double)_resultRow, 3);
return _resultRow;
}
set { _resultLineStartRow = value; }
set { _resultRow = value; }
}
/// <summary>
/// 查找到的线的起点列坐标
/// </summary>
private HTuple _resultLineStartCol = 0;
internal HTuple ResultLineStartCol
private HTuple _resultCol = 0;
public HTuple ResultCol
{
get
{
_resultLineStartCol = Math.Round((double)_resultLineStartCol, 3);
return _resultLineStartCol;
_resultCol = Math.Round((double)_resultCol, 3);
return _resultCol;
}
set { _resultLineStartCol = value; }
}
/// <summary>
/// 查找到的线的终点行坐标
/// </summary>
private HTuple _resultLineEndRow = 0;
internal HTuple ResultLineEndRow
{
get
{
_resultLineEndRow = Math.Round((double)_resultLineEndRow, 3);
return _resultLineEndRow;
}
set { _resultLineEndRow = value; }
}
/// <summary>
/// 查找到的线的终点列坐标
/// </summary>
private HTuple _resultLineEndCol = 0;
internal HTuple ResultLineEndCol
{
get
{
_resultLineEndCol = Math.Round((double)_resultLineEndCol, 3);
return _resultLineEndCol;
}
set { _resultLineEndCol = value; }
}
/// <summary>
/// 查找到线的方向
/// </summary>
private HTuple _angle = 0;
internal HTuple Angle
{
get
{
_angle = Math.Round((double)_angle, 3);
return _angle;
}
set { _angle = value; }
set { _resultCol = value; }
}
public HObject inputImage { get; set; } = null;
public ToolRunStatu toolRunStatu { get; set; } = ToolRunStatu.Not_Run;
public void DispImage()
{
if (inputImage != null)
{
FormCaliper.Instance.myHwindow.HobjectToHimage(inputImage);
}
}
internal void DrawExpectLine(HWindow_Final myHwindow)
{
if (inputImage != null)
{
try
{
myHwindow.DrawModel = true;
myHwindow.Focus();
HOperatorSet.SetColor(myHwindow.hWindowControl.HalconWindow, new HTuple("green"));
HOperatorSet.DrawRectangle2Mod(myHwindow.hWindowControl.HalconWindow, expectRecStartRow, expectRecStartColumn, expectAngle, length1, length2,
out expectRecStartRow, out expectRecStartColumn, out expectAngle, out length1, out length2);
if (inputPose != null)
{
templatePose.X = inputPose.X;
templatePose.Y = inputPose.Y;
templatePose.U = inputPose.U;
}
// 输入
FormCaliper.Instance.tbx_expectCenterRow.Text = expectRecStartRow.TupleString("10.3f");
FormCaliper.Instance.tbx_expectCenterCol.Text = expectRecStartColumn.TupleString("10.3f");
FormCaliper.Instance.tbx_expectPhi.Text = expectAngle.TupleString("10.3f");
// 参数
FormCaliper.Instance.tbx_caliperLength1.Text = length1.TupleString("10.3f");
FormCaliper.Instance.tbx_caliperLength2.Text = length2.TupleString("10.3f");
myHwindow.DrawModel = false;
// Run();
}
catch (Exception ex)
{
FormCaliper.Instance.TextBoxMessageDisp(ex.Message, System.Drawing.Color.Red);
}
}
else
{
FormCaliper.Instance.TextBoxMessageDisp("图像为空", System.Drawing.Color.Red);
}
}
public void UpdateImage()
{
FormCaliper.Instance.myHwindow.ClearWindow();
DispImage();
}
public void Run()
{
HTuple HMeasureHandle = new HTuple();
HTuple resultRow, resultCol;
if (inputImage == null)
{
FormCaliper.Instance.TextBoxMessageDisp("图像为空", System.Drawing.Color.Red);
toolRunStatu = ToolRunStatu.Not_Input_Image;
return;
}
try
{
UpdateImage();
if (inputPose != null)
{
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);
//对预期线的起始点做放射变换
HOperatorSet.AffineTransPixel(_homMat2D, (HTuple)expectRecStartRow, (HTuple)expectRecStartColumn, out newExpectRecStartRow, out newExpectRecStartColumn);
}
else
{
newExpectRecStartRow = expectRecStartRow;
newExpectRecStartColumn = expectRecStartColumn;
}
HTuple width, height, AmplitudeThreshold, distance;
HOperatorSet.GetImageSize(inputImage, out width, out height);
HOperatorSet.GenMeasureRectangle2(expectRecStartRow, expectRecStartColumn, expectAngle, length1, length2, width, height, "nearest_neighbor", out HMeasureHandle);
HOperatorSet.MeasurePos(inputImage, HMeasureHandle, sigma, threshold, polarity, edgeSelect, out resultRow, out resultCol, out AmplitudeThreshold, out distance);
if(resultRow.Length != 0)
{
ResulttRow = resultRow;
ResultCol = resultCol;
}
//把点显示出来
HOperatorSet.GenCrossContourXld(out crossDisp, ResulttRow, ResultCol, new HTuple(12), new HTuple(0));
DispMainWindow(FormCaliper.Instance.myHwindow);
// 参数传递
ParamsTrans();
FormCaliper.Instance.tbx_resultStartRow.Text = ResulttRow.ToString();
FormCaliper.Instance.tbx_resultStartCol.Text = ResultCol.ToString();
FormCaliper.Instance.TextBoxMessageDisp("运行成功", System.Drawing.Color.Green);
toolRunStatu = ToolRunStatu.Succeed;
}
catch (Exception ex)
{
FormCaliper.Instance.TextBoxMessageDisp("工具运行异常" + ex.Message, System.Drawing.Color.Red);
}
finally
{
//homMat2DArrow.Dispose();
//arrow.Dispose();
//arrowTrans.Dispose();
}
}
/// <summary>
/// 将数据传递给FindlineToolInterface
/// </summary>
private void ParamsTrans()
{
FormCaliper.Instance.myToolInfo.toolOutput.Clear();
FormCaliper.Instance.myToolInfo.toolOutput.Add(new ToolIO("outputCenterRow", ResulttRow, DataType.IntValue));
FormCaliper.Instance.myToolInfo.toolOutput.Add(new ToolIO("outputCenterColumn", ResultCol, DataType.IntValue));
}
public void DispMainWindow(HWindow_Final window)
{
// 显示矩形
if (dispRec)
{
window.DispObj(contoursDisp, "blue");
}
// 显示交点
if (dispCross)
{
window.DispObj(crossDisp, "orange");
}
//显示找到的线
// window.DispObj(LineDisp, "green");
}
}
}