mirror of
https://github.com/eggplantlwj/VisionEdit.git
synced 2026-03-24 16:56:36 +08:00
369 lines
16 KiB
C#
369 lines
16 KiB
C#
using System;
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using HalconDotNet;
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using DataStruct;
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using static DataStruct.DataStruct;
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using ToolBase;
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using HalconWindow.HalconWindow;
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using CommonMethods;
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namespace FindLineTool
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{
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[Serializable]
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public class FindLine:IToolBase
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{
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internal bool toolEnable = true;
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/// <summary>
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/// 输入姿态
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/// </summary>
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internal PosXYU inputPose = new PosXYU();
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/// <summary>
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/// 制作模板时的输入位姿
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/// </summary>
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internal PosXYU templatePose = new PosXYU();
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/// <summary>
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/// 期望线起点行坐标
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/// </summary>
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internal HTuple expectLineStartRow = 200;
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/// <summary>
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/// 卡尺
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/// </summary>
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internal HObject contours;
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/// <summary>
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/// 期望线起点列坐标
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/// </summary>
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internal HTuple expectLineStartCol = 200;
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/// <summary>
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/// 期望线终点行坐标
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/// </summary>
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internal HTuple expectLineEndRow = 200;
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/// <summary>
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/// 期望线终点列坐标
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/// </summary>
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internal HTuple expectLineEndCol = 600;
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/// <summary>
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/// 找边极性，从明到暗或从暗到明
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/// </summary>
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internal string polarity = "negative";
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/// <summary>
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/// 卡尺数量
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/// </summary>
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internal int cliperNum = 20;
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/// <summary>
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/// 卡尺高
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/// </summary>
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internal int length = 80;
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/// <summary>
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/// 卡尺宽
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/// </summary>
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internal int weidth = 5;
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/// <summary>
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/// 边阈值
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/// </summary>
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internal int threshold = 30;
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/// <summary>
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/// 边Sigma
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/// </summary>
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internal double sigma = 1.0;
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/// <summary>
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/// 选择所查找到的边
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/// </summary>
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internal string edgeSelect = "all";
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/// <summary>
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/// 分数阈值
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/// </summary>
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internal double _minScore = 0.5;
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internal double minScore
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{
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get
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{
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return _minScore;
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}
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set
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{
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if(minScore >= 1)
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{
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_minScore = 1;
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}
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else if(minScore <= 0)
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{
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_minScore = 0;
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}
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else
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{
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_minScore = value;
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}
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}
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}
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/// <summary>
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/// 找到的线段
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/// </summary>
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internal Line resultLine = new Line();
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/// <summary>
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/// 新的跟随姿态变化后的预期线信息
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/// </summary>
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HTuple newExpectLineStartRow = new HTuple(200), newExpectLineStartCol = new HTuple(200), newExpectLineEndRow = new HTuple(200), newExpectLineEndCol = new HTuple(600);
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/// <summary>
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/// 查找到的线的起点行坐标
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/// </summary>
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private HTuple _resultLineStartRow = 0;
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internal HTuple ResultLineStartRow
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{
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get
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{
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_resultLineStartRow = Math.Round((double)_resultLineStartRow, 3);
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return _resultLineStartRow;
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}
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set { _resultLineStartRow = value; }
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}
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/// <summary>
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/// 查找到的线的起点列坐标
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/// </summary>
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private HTuple _resultLineStartCol = 0;
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internal HTuple ResultLineStartCol
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{
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get
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{
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_resultLineStartCol = Math.Round((double)_resultLineStartCol, 3);
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return _resultLineStartCol;
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}
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set { _resultLineStartCol = value; }
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}
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/// <summary>
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/// 查找到的线的终点行坐标
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/// </summary>
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private HTuple _resultLineEndRow = 0;
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internal HTuple ResultLineEndRow
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{
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get
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{
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_resultLineEndRow = Math.Round((double)_resultLineEndRow, 3);
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return _resultLineEndRow;
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}
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set { _resultLineEndRow = value; }
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}
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/// <summary>
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/// 查找到的线的终点列坐标
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/// </summary>
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private HTuple _resultLineEndCol = 0;
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internal HTuple ResultLineEndCol
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{
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get
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{
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_resultLineEndCol = Math.Round((double)_resultLineEndCol, 3);
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return _resultLineEndCol;
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}
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set { _resultLineEndCol = value; }
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}
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/// <summary>
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/// 查找到线的方向
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/// </summary>
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private HTuple _angle = 0;
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internal HTuple Angle
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{
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get
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{
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_angle = Math.Round((double)_angle, 3);
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return _angle;
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}
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set { _angle = value; }
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}
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public HObject inputImage { get; set; }
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public ToolRunStatu toolRunStatu { get; set; }
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public void DispImage()
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{
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FormFindLine.Instance.myHwindow.HobjectToHimage(inputImage);
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}
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public void UpdateImage()
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{
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FormFindLine.Instance.myHwindow.ClearWindow();
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DispImage();
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}
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public void Run()
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{
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if(inputImage == null)
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{
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FormFindLine.Instance.TextBoxMessageDisp("图像为空", System.Drawing.Color.Red);
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toolRunStatu = ToolRunStatu.Not_Input_Image;
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return;
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}
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try
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{
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UpdateImage();
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if (inputPose != null)
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{
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HTuple Row = inputPose.X - templatePose.X;
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HTuple Col = inputPose.Y - templatePose.Y;
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HTuple angle = inputPose.U - templatePose.U;
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HTuple _homMat2D;
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HOperatorSet.HomMat2dIdentity(out _homMat2D);
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HOperatorSet.HomMat2dRotate(_homMat2D, (HTuple)(angle), (HTuple)templatePose.X, (HTuple)templatePose.Y, out _homMat2D);
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HOperatorSet.HomMat2dTranslate(_homMat2D, (HTuple)(Row), (HTuple)(Col), out _homMat2D);
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//对预期线的起始点做放射变换
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HOperatorSet.AffineTransPixel(_homMat2D, (HTuple)expectLineStartRow, (HTuple)expectLineStartCol, out newExpectLineStartRow, out newExpectLineStartCol);
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HOperatorSet.AffineTransPixel(_homMat2D, (HTuple)expectLineEndRow, (HTuple)expectLineEndCol, out newExpectLineEndRow, out newExpectLineEndCol);
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}
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else
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{
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newExpectLineStartRow = expectLineStartRow;
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newExpectLineStartCol = expectLineStartCol;
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newExpectLineEndRow = expectLineEndRow;
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newExpectLineEndCol = expectLineEndCol;
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}
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HTuple handleID;
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HOperatorSet.CreateMetrologyModel(out handleID);
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HTuple width, height;
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HOperatorSet.GetImageSize(inputImage, out width, out height);
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HOperatorSet.SetMetrologyModelImageSize(handleID, width[0], height[0]);
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HTuple index;
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HOperatorSet.AddMetrologyObjectLineMeasure(handleID, newExpectLineStartRow, newExpectLineStartCol, newExpectLineEndRow, newExpectLineEndCol, new HTuple(50), new HTuple(20), new HTuple(1), new HTuple(30), new HTuple(), new HTuple(), out index);
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//参数在这里设置
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HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_transition"), new HTuple(polarity));
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HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("num_measures"), new HTuple(cliperNum));
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HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_length1"), new HTuple(length));
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HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_length2"), new HTuple(weidth));
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HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_threshold"), new HTuple(threshold));
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HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_select"), new HTuple(edgeSelect));
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HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("measure_sigma"), new HTuple(sigma));
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HOperatorSet.SetMetrologyObjectParam(handleID, new HTuple("all"), new HTuple("min_score"), new HTuple(minScore));
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HOperatorSet.ApplyMetrologyModel(inputImage, handleID);
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//显示所有卡尺
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HTuple pointRow, pointCol;
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HOperatorSet.GetMetrologyObjectMeasures(out contours, handleID, new HTuple("all"), new HTuple("all"), out pointRow, out pointCol);
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HOperatorSet.SetColor(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, new HTuple("blue"));
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HOperatorSet.DispObj(contours, FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow);
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FormFindLine.Instance.myHwindow.DispObj(contours, "blue");
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//显示指示找线方向的箭头
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HTuple arrowAngle;
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HOperatorSet.AngleLx(newExpectLineStartRow, newExpectLineStartCol, newExpectLineEndRow, newExpectLineEndCol, out arrowAngle);
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#region 测试箭头
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#endregion
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arrowAngle = arrowAngle + Math.PI / 2;
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arrowAngle = arrowAngle.TupleDeg();
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HTuple row = (newExpectLineStartRow + newExpectLineEndRow) / 2;
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HTuple column = (newExpectLineStartCol + newExpectLineEndCol) / 2;
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double drow, dcolumn;
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double arrowLength = length + 100;
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if (0 <= arrowAngle && arrowAngle <= 90)
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{
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drow = Math.Abs(arrowLength * Math.Sin(((HTuple)arrowAngle).TupleRad()));
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dcolumn = Math.Abs(arrowLength * Math.Cos(((HTuple)arrowAngle).TupleRad()));
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HOperatorSet.DispArrow(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, row, column, row - drow, column + dcolumn, 5.0);
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}
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else if (arrowAngle > 90 && arrowAngle <= 180)
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{
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drow = arrowLength * Math.Sin(((HTuple)(180 - arrowAngle)).TupleRad());
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dcolumn = arrowLength * Math.Cos(((HTuple)(180 - arrowAngle)).TupleRad());
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HOperatorSet.DispArrow(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, row, column, row - drow, column - dcolumn, 5.0);
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}
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else if (arrowAngle < 0 && arrowAngle >= -90)
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{
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drow = arrowLength * Math.Sin(((HTuple)arrowAngle * -1).TupleRad());
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dcolumn = arrowLength * Math.Cos(((HTuple)arrowAngle * -1).TupleRad());
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HOperatorSet.DispArrow(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, row, column, row + drow, column + dcolumn, 5.0);
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}
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else if (arrowAngle < -90 && arrowAngle >= -180)
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{
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drow = Math.Abs(arrowLength * Math.Sin(((HTuple)arrowAngle + 180).TupleRad()));
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dcolumn = Math.Abs(arrowLength * Math.Cos(((HTuple)arrowAngle + 180).TupleRad()));
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HOperatorSet.DispArrow(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, row, column, row + drow, column - dcolumn, 5.0);
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}
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//把点显示出来
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HObject cross;
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HOperatorSet.GenCrossContourXld(out cross, pointRow, pointCol, new HTuple(12), new HTuple(0));
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HOperatorSet.SetColor(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, new HTuple("orange"));
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HOperatorSet.DispObj(cross, FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow);
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FormFindLine.Instance.myHwindow.DispObj(cross, "orange");
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//得到所找到的线
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HTuple parameter;
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HObject line;
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HOperatorSet.GetMetrologyObjectResult(handleID, new HTuple("all"), new HTuple("all"), new HTuple("result_type"), new HTuple("all_param"), out parameter);
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HOperatorSet.GetMetrologyObjectResultContour(out line, handleID, new HTuple("all"), new HTuple("all"), new HTuple(1.5));
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if (parameter.Length >= 4)
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{
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ResultLineStartRow = parameter[0];
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ResultLineStartCol = parameter[1];
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ResultLineEndRow = parameter[2];
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ResultLineEndCol = parameter[3];
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Point start = new Point() { Row = ResultLineStartRow, Col = ResultLineStartCol };
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Point end = new Point() { Row = ResultLineEndRow, Col = ResultLineEndCol };
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resultLine = new Line() { StartPoint = start, EndPoint = end };
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//显示找到的线
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HOperatorSet.SetColor(FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow, new HTuple("green"));
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// HOperatorSet.DispObj(line, GetWindowHandle(jobName));
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FormFindLine.Instance.myHwindow.hWindowControl.HalconWindow.SetLineWidth(2);
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FormFindLine.Instance.myHwindow.DispObj(line, "green");
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}
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HOperatorSet.AngleLx(ResultLineStartRow, ResultLineStartCol, ResultLineEndRow, ResultLineEndCol, out _angle);
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HOperatorSet.ClearMetrologyModel(handleID);
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FormFindLine.Instance.tbx_resultStartRow.Text = ResultLineStartRow.ToString();
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FormFindLine.Instance.tbx_resultStartCol.Text = ResultLineEndCol.ToString();
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FormFindLine.Instance.tbx_resultEndRow.Text = ResultLineEndRow.ToString();
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FormFindLine.Instance.tbx_resultEndCol.Text = ResultLineEndCol.ToString();
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FormFindLine.Instance.TextBoxMessageDisp("运行成功", System.Drawing.Color.Green);
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toolRunStatu = ToolRunStatu.Succeed;
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}
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catch (Exception ex)
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{
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FormFindLine.Instance.TextBoxMessageDisp("工具运行异常" + ex.Message, System.Drawing.Color.Red);
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}
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}
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internal void DrawExpectLine(HWindow_Final myHwindow)
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{
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if(inputImage != null)
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{
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try
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{
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myHwindow.DrawModel = true;
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myHwindow.Focus();
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HOperatorSet.SetColor(myHwindow.hWindowControl.HalconWindow, new HTuple("green"));
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HOperatorSet.DrawLineMod(myHwindow.hWindowControl.HalconWindow, newExpectLineStartRow, newExpectLineStartCol, newExpectLineEndRow, newExpectLineEndCol, out expectLineStartRow, out expectLineStartCol, out expectLineEndRow, out expectLineEndCol);
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if (inputPose != null)
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{
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templatePose.X = inputPose.X;
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templatePose.Y = inputPose.Y;
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templatePose.U = inputPose.U;
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}
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FormFindLine.Instance.tbx_expectLineStartRow.Text = expectLineStartRow.TupleString("10.3f");
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FormFindLine.Instance.tbx_expectLineStartCol.Text = expectLineStartCol.TupleString("10.3f");
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FormFindLine.Instance.tbx_expectLineEndRow.Text = expectLineEndRow.TupleString("10.3f");
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FormFindLine.Instance.tbx_expectLineEndCol.Text = expectLineEndCol.TupleString("10.3f");
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myHwindow.DrawModel = false;
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Run();
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}
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catch (Exception ex)
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{
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FormFindLine.Instance.TextBoxMessageDisp(ex.Message, System.Drawing.Color.Red);
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}
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}
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else
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{
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FormFindLine.Instance.TextBoxMessageDisp("图像为空", System.Drawing.Color.Red);
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}
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}
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}
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}
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