using System;
|
using System.Collections.Generic;
|
using System.Linq;
|
using System.Text;
|
using HalconDotNet;
|
|
namespace HalconTools
|
{
|
public class QualityProcedures
|
{
|
/// <summary>
|
/// Evaluates the sharpness of the calibration plate in the calibration
|
/// image.
|
/// </summary>
|
public void eval_caltab_focus(HObject ho_Image,
|
HObject ho_Marks,
|
HTuple hv_Contrast,
|
out HTuple hv_FocusScore)
|
{
|
// Local iconic variables
|
|
HObject ho_Region, ho_RegionUnion, ho_ImageReduced;
|
HObject ho_DerivGauss;
|
|
// Local control variables
|
|
HTuple hv_Number, hv_MeanGradient, hv_Deviation;
|
HTuple hv_MinScore, hv_RawResult;
|
|
// Initialize local and output iconic variables
|
HOperatorSet.GenEmptyObj(out ho_Region);
|
HOperatorSet.GenEmptyObj(out ho_RegionUnion);
|
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
|
HOperatorSet.GenEmptyObj(out ho_DerivGauss);
|
|
hv_FocusScore = 0.0;
|
if ((int)(new HTuple(hv_Contrast.TupleEqual(0))) != 0)
|
{
|
ho_Region.Dispose();
|
ho_RegionUnion.Dispose();
|
ho_ImageReduced.Dispose();
|
ho_DerivGauss.Dispose();
|
|
return;
|
}
|
HOperatorSet.CountObj(ho_Marks, out hv_Number);
|
if ((int)(new HTuple(hv_Number.TupleLess(3))) != 0)
|
{
|
ho_Region.Dispose();
|
ho_RegionUnion.Dispose();
|
ho_ImageReduced.Dispose();
|
ho_DerivGauss.Dispose();
|
|
return;
|
}
|
ho_Region.Dispose();
|
HOperatorSet.GenRegionContourXld(ho_Marks, out ho_Region, "margin");
|
ho_RegionUnion.Dispose();
|
HOperatorSet.Union1(ho_Region, out ho_RegionUnion);
|
ho_ImageReduced.Dispose();
|
HOperatorSet.ReduceDomain(ho_Image, ho_RegionUnion, out ho_ImageReduced);
|
ho_DerivGauss.Dispose();
|
HOperatorSet.DerivateGauss(ho_ImageReduced, out ho_DerivGauss, 0.7, "gradient");
|
HOperatorSet.Intensity(ho_Region, ho_DerivGauss, out hv_MeanGradient, out hv_Deviation);
|
hv_MinScore = 0.25;
|
//Normalize the Gradient with the contrast
|
hv_RawResult = hv_MeanGradient / hv_Contrast;
|
hv_FocusScore = (((hv_RawResult * 4.5)).TupleSort())[(new HTuple((new HTuple(hv_RawResult.TupleLength()
|
)) / 20.0)).TupleRound()];
|
hv_FocusScore = ((((((((hv_FocusScore - hv_MinScore)).TupleConcat(0.0))).TupleMax()
|
)).TupleConcat(1.0))).TupleMin();
|
ho_Region.Dispose();
|
ho_RegionUnion.Dispose();
|
ho_ImageReduced.Dispose();
|
ho_DerivGauss.Dispose();
|
|
return;
|
}
|
|
|
|
/// <summary>
|
/// Extracts the calibration plate and the marks on this plate
|
/// for the supplied image
|
/// </summary>
|
public void find_caltab_edges(HObject ho_Image,
|
out HObject ho_Caltab,
|
out HObject ho_Marks,
|
HTuple hv_DescriptionFileName)
|
{
|
|
|
// Stack for temporary objects
|
HObject[] OTemp = new HObject[20];
|
|
// Local iconic variables
|
|
HObject ho_ImageMean, ho_RegionDynThresh, ho_RegionBorder;
|
HObject ho_RegionOpening1, ho_ConnectedRegions1, ho_SelectedRegions4;
|
HObject ho_SelectedRegions5, ho_RegionBorder2, ho_RegionTrans;
|
HObject ho_RegionErosion, ho_RegionBorder1, ho_RegionDilation2;
|
HObject ho_RegionDifference1, ho_RegionOpening, ho_ConnectedRegions;
|
HObject ho_SelectedRegions2, ho_SelectedRegions, ho_RegionFillUp;
|
HObject ho_SelectedRegions1, ho_RegionIntersection, ho_RegionFillUp1;
|
HObject ho_RegionDifference, ho_CaltabCandidates, ho_ObjectSelected = null;
|
HObject ho_ConnectedMarks = null, ho_ObjectSelectedCaltab = null;
|
HObject ho_RegionFillUpCand, ho_MarksCand, ho_RegionDilation1;
|
HObject ho_ImageReduced, ho_DefaultEdges, ho_UnionContours;
|
HObject ho_SelectedXLD, ho_SelectedXLD1;
|
|
|
// Local control variables
|
|
HTuple hv_Width, hv_Height, hv_EstimatedCaltabSize;
|
HTuple hv_EstimatedMarkSize, hv_Number, hv_X, hv_Y, hv_Z;
|
HTuple hv_NumDescrMarks, hv_Index, hv_NumberMarks = new HTuple();
|
HTuple hv_Anisometry = new HTuple(), hv_Bulkiness = new HTuple();
|
HTuple hv_StructureFactor = new HTuple(), hv_AreaMarks = new HTuple();
|
HTuple hv_Row = new HTuple(), hv_Column = new HTuple(), hv_Rectangularity;
|
HTuple hv_SortedIndex, hv_IndexBest, hv_MinContrast, hv_NumberCand;
|
HTuple hv_Area, hv_Dummy, hv_DummyS, hv_AreaMedian;
|
|
// Initialize local and output iconic variables
|
HOperatorSet.GenEmptyObj(out ho_Caltab);
|
HOperatorSet.GenEmptyObj(out ho_Marks);
|
HOperatorSet.GenEmptyObj(out ho_ImageMean);
|
HOperatorSet.GenEmptyObj(out ho_RegionDynThresh);
|
HOperatorSet.GenEmptyObj(out ho_RegionBorder);
|
HOperatorSet.GenEmptyObj(out ho_RegionOpening1);
|
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions1);
|
HOperatorSet.GenEmptyObj(out ho_SelectedRegions4);
|
HOperatorSet.GenEmptyObj(out ho_SelectedRegions5);
|
HOperatorSet.GenEmptyObj(out ho_RegionBorder2);
|
HOperatorSet.GenEmptyObj(out ho_RegionTrans);
|
HOperatorSet.GenEmptyObj(out ho_RegionErosion);
|
HOperatorSet.GenEmptyObj(out ho_RegionBorder1);
|
HOperatorSet.GenEmptyObj(out ho_RegionDilation2);
|
HOperatorSet.GenEmptyObj(out ho_RegionDifference1);
|
HOperatorSet.GenEmptyObj(out ho_RegionOpening);
|
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
|
HOperatorSet.GenEmptyObj(out ho_SelectedRegions2);
|
HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
|
HOperatorSet.GenEmptyObj(out ho_RegionFillUp);
|
HOperatorSet.GenEmptyObj(out ho_SelectedRegions1);
|
HOperatorSet.GenEmptyObj(out ho_RegionIntersection);
|
HOperatorSet.GenEmptyObj(out ho_RegionFillUp1);
|
HOperatorSet.GenEmptyObj(out ho_RegionDifference);
|
HOperatorSet.GenEmptyObj(out ho_CaltabCandidates);
|
HOperatorSet.GenEmptyObj(out ho_ObjectSelected);
|
HOperatorSet.GenEmptyObj(out ho_ConnectedMarks);
|
HOperatorSet.GenEmptyObj(out ho_ObjectSelectedCaltab);
|
HOperatorSet.GenEmptyObj(out ho_RegionFillUpCand);
|
HOperatorSet.GenEmptyObj(out ho_MarksCand);
|
HOperatorSet.GenEmptyObj(out ho_RegionDilation1);
|
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
|
HOperatorSet.GenEmptyObj(out ho_DefaultEdges);
|
HOperatorSet.GenEmptyObj(out ho_UnionContours);
|
HOperatorSet.GenEmptyObj(out ho_SelectedXLD);
|
HOperatorSet.GenEmptyObj(out ho_SelectedXLD1);
|
|
//
|
ho_Marks.Dispose();
|
HOperatorSet.GenEmptyObj(out ho_Marks);
|
ho_Caltab.Dispose();
|
HOperatorSet.GenEmptyObj(out ho_Caltab);
|
HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height);
|
hv_EstimatedCaltabSize = (((((hv_Width.TupleConcat(hv_Height))).TupleMax()) / 2.5)).TupleRound()
|
;
|
hv_EstimatedMarkSize = ((hv_EstimatedCaltabSize / 12.0)).TupleRound();
|
ho_ImageMean.Dispose();
|
HOperatorSet.MeanImage(ho_Image, out ho_ImageMean, hv_EstimatedMarkSize * 3, hv_EstimatedMarkSize * 3);
|
ho_RegionDynThresh.Dispose();
|
HOperatorSet.DynThreshold(ho_Image, ho_ImageMean, out ho_RegionDynThresh, 3,
|
"light");
|
ho_RegionBorder.Dispose();
|
HOperatorSet.DynThreshold(ho_Image, ho_ImageMean, out ho_RegionBorder, 20, "dark");
|
ho_RegionOpening1.Dispose();
|
HOperatorSet.OpeningCircle(ho_RegionBorder, out ho_RegionOpening1, 1.5);
|
ho_ConnectedRegions1.Dispose();
|
HOperatorSet.Connection(ho_RegionOpening1, out ho_ConnectedRegions1);
|
ho_SelectedRegions4.Dispose();
|
HOperatorSet.SelectShape(ho_ConnectedRegions1, out ho_SelectedRegions4, "compactness",
|
"and", 17, 50);
|
ho_SelectedRegions5.Dispose();
|
HOperatorSet.SelectShape(ho_SelectedRegions4, out ho_SelectedRegions5, "anisometry",
|
"and", 1, 1.4);
|
ho_RegionBorder2.Dispose();
|
HOperatorSet.Boundary(ho_SelectedRegions5, out ho_RegionBorder2, "outer");
|
ho_SelectedRegions5.Dispose();
|
HOperatorSet.SelectShape(ho_RegionBorder2, out ho_SelectedRegions5, "circularity",
|
"and", 0.006, 1);
|
ho_RegionTrans.Dispose();
|
HOperatorSet.ShapeTrans(ho_SelectedRegions5, out ho_RegionTrans, "rectangle2");
|
ho_RegionErosion.Dispose();
|
HOperatorSet.ErosionCircle(ho_RegionTrans, out ho_RegionErosion, (hv_Width / 640.0) * 5.5);
|
ho_RegionBorder1.Dispose();
|
HOperatorSet.Boundary(ho_RegionErosion, out ho_RegionBorder1, "inner");
|
ho_RegionDilation2.Dispose();
|
HOperatorSet.DilationCircle(ho_RegionBorder1, out ho_RegionDilation2, 3.5);
|
ho_RegionDifference1.Dispose();
|
HOperatorSet.Difference(ho_RegionDynThresh, ho_RegionDilation2, out ho_RegionDifference1
|
);
|
ho_RegionOpening.Dispose();
|
HOperatorSet.OpeningCircle(ho_RegionDifference1, out ho_RegionOpening, (hv_Width / 640) * 1.5);
|
ho_ConnectedRegions.Dispose();
|
HOperatorSet.Connection(ho_RegionOpening, out ho_ConnectedRegions);
|
ho_SelectedRegions2.Dispose();
|
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions2, "area",
|
"and", (hv_EstimatedCaltabSize.TuplePow(2)) / 10, (hv_EstimatedCaltabSize.TuplePow(
|
2)) * 5);
|
ho_SelectedRegions.Dispose();
|
HOperatorSet.SelectShape(ho_SelectedRegions2, out ho_SelectedRegions, "compactness",
|
"and", 1.4, 10);
|
ho_RegionFillUp.Dispose();
|
HOperatorSet.FillUp(ho_SelectedRegions, out ho_RegionFillUp);
|
ho_SelectedRegions1.Dispose();
|
HOperatorSet.SelectShape(ho_RegionFillUp, out ho_SelectedRegions1, "rectangularity",
|
"and", 0.6, 1);
|
ho_RegionIntersection.Dispose();
|
HOperatorSet.Intersection(ho_SelectedRegions1, ho_RegionDynThresh, out ho_RegionIntersection
|
);
|
ho_RegionFillUp1.Dispose();
|
HOperatorSet.FillUp(ho_RegionIntersection, out ho_RegionFillUp1);
|
ho_RegionDifference.Dispose();
|
HOperatorSet.Difference(ho_RegionFillUp1, ho_RegionIntersection, out ho_RegionDifference
|
);
|
HOperatorSet.CountObj(ho_RegionDifference, out hv_Number);
|
ho_CaltabCandidates.Dispose();
|
HOperatorSet.GenEmptyObj(out ho_CaltabCandidates);
|
HOperatorSet.CaltabPoints(hv_DescriptionFileName, out hv_X, out hv_Y, out hv_Z);
|
hv_NumDescrMarks = new HTuple(hv_X.TupleLength());
|
for (hv_Index = 1; hv_Index.Continue(hv_Number, 1); hv_Index = hv_Index.TupleAdd(1))
|
{
|
ho_ObjectSelected.Dispose();
|
HOperatorSet.SelectObj(ho_RegionDifference, out ho_ObjectSelected, hv_Index);
|
ho_ConnectedMarks.Dispose();
|
HOperatorSet.Connection(ho_ObjectSelected, out ho_ConnectedMarks);
|
HOperatorSet.CountObj(ho_ConnectedMarks, out hv_NumberMarks);
|
HOperatorSet.Eccentricity(ho_ConnectedMarks, out hv_Anisometry, out hv_Bulkiness,
|
out hv_StructureFactor);
|
HOperatorSet.AreaCenter(ho_ConnectedMarks, out hv_AreaMarks, out hv_Row, out hv_Column);
|
ho_ObjectSelectedCaltab.Dispose();
|
HOperatorSet.SelectObj(ho_RegionIntersection, out ho_ObjectSelectedCaltab,
|
hv_Index);
|
if ((int)((new HTuple((new HTuple((new HTuple(hv_NumberMarks.TupleGreaterEqual(
|
10))).TupleAnd(new HTuple(hv_NumberMarks.TupleLess(hv_NumDescrMarks + 20))))).TupleAnd(
|
new HTuple(((((hv_Anisometry.TupleSort())).TupleSelect((new HTuple(hv_Anisometry.TupleLength()
|
)) / 2))).TupleLess(2))))).TupleAnd(new HTuple((new HTuple(hv_AreaMarks.TupleMean()
|
)).TupleGreater(20)))) != 0)
|
{
|
HOperatorSet.ConcatObj(ho_CaltabCandidates, ho_ObjectSelectedCaltab, out OTemp[0]
|
);
|
ho_CaltabCandidates.Dispose();
|
ho_CaltabCandidates = OTemp[0];
|
}
|
}
|
ho_RegionFillUpCand.Dispose();
|
HOperatorSet.FillUp(ho_CaltabCandidates, out ho_RegionFillUpCand);
|
HOperatorSet.Rectangularity(ho_RegionFillUpCand, out hv_Rectangularity);
|
if ((int)(new HTuple((new HTuple(hv_Rectangularity.TupleLength())).TupleEqual(
|
0))) != 0)
|
{
|
ho_ImageMean.Dispose();
|
ho_RegionDynThresh.Dispose();
|
ho_RegionBorder.Dispose();
|
ho_RegionOpening1.Dispose();
|
ho_ConnectedRegions1.Dispose();
|
ho_SelectedRegions4.Dispose();
|
ho_SelectedRegions5.Dispose();
|
ho_RegionBorder2.Dispose();
|
ho_RegionTrans.Dispose();
|
ho_RegionErosion.Dispose();
|
ho_RegionBorder1.Dispose();
|
ho_RegionDilation2.Dispose();
|
ho_RegionDifference1.Dispose();
|
ho_RegionOpening.Dispose();
|
ho_ConnectedRegions.Dispose();
|
ho_SelectedRegions2.Dispose();
|
ho_SelectedRegions.Dispose();
|
ho_RegionFillUp.Dispose();
|
ho_SelectedRegions1.Dispose();
|
ho_RegionIntersection.Dispose();
|
ho_RegionFillUp1.Dispose();
|
ho_RegionDifference.Dispose();
|
ho_CaltabCandidates.Dispose();
|
ho_ObjectSelected.Dispose();
|
ho_ConnectedMarks.Dispose();
|
ho_ObjectSelectedCaltab.Dispose();
|
ho_RegionFillUpCand.Dispose();
|
ho_MarksCand.Dispose();
|
ho_RegionDilation1.Dispose();
|
ho_ImageReduced.Dispose();
|
ho_DefaultEdges.Dispose();
|
ho_UnionContours.Dispose();
|
ho_SelectedXLD.Dispose();
|
ho_SelectedXLD1.Dispose();
|
|
return;
|
}
|
hv_SortedIndex = hv_Rectangularity.TupleSortIndex();
|
hv_IndexBest = (((hv_SortedIndex.TupleInverse())).TupleSelect(0)) + 1;
|
ho_Caltab.Dispose();
|
HOperatorSet.SelectObj(ho_RegionFillUpCand, out ho_Caltab, hv_IndexBest);
|
ho_RegionFillUp.Dispose();
|
HOperatorSet.FillUp(ho_Caltab, out ho_RegionFillUp);
|
ho_MarksCand.Dispose();
|
HOperatorSet.Difference(ho_RegionFillUp, ho_RegionDynThresh, out ho_MarksCand
|
);
|
ho_RegionBorder.Dispose();
|
HOperatorSet.Boundary(ho_MarksCand, out ho_RegionBorder, "inner");
|
ho_RegionDilation1.Dispose();
|
HOperatorSet.DilationCircle(ho_RegionBorder, out ho_RegionDilation1, 9.5);
|
ho_ImageReduced.Dispose();
|
HOperatorSet.ReduceDomain(ho_Image, ho_RegionDilation1, out ho_ImageReduced);
|
hv_MinContrast = 10;
|
ho_DefaultEdges.Dispose();
|
HOperatorSet.EdgesSubPix(ho_ImageReduced, out ho_DefaultEdges, "canny", 2, hv_MinContrast / 2,
|
hv_MinContrast);
|
HOperatorSet.CountObj(ho_DefaultEdges, out hv_NumberCand);
|
if ((int)(new HTuple(hv_NumberCand.TupleLess(10))) != 0)
|
{
|
ho_ImageMean.Dispose();
|
ho_RegionDynThresh.Dispose();
|
ho_RegionBorder.Dispose();
|
ho_RegionOpening1.Dispose();
|
ho_ConnectedRegions1.Dispose();
|
ho_SelectedRegions4.Dispose();
|
ho_SelectedRegions5.Dispose();
|
ho_RegionBorder2.Dispose();
|
ho_RegionTrans.Dispose();
|
ho_RegionErosion.Dispose();
|
ho_RegionBorder1.Dispose();
|
ho_RegionDilation2.Dispose();
|
ho_RegionDifference1.Dispose();
|
ho_RegionOpening.Dispose();
|
ho_ConnectedRegions.Dispose();
|
ho_SelectedRegions2.Dispose();
|
ho_SelectedRegions.Dispose();
|
ho_RegionFillUp.Dispose();
|
ho_SelectedRegions1.Dispose();
|
ho_RegionIntersection.Dispose();
|
ho_RegionFillUp1.Dispose();
|
ho_RegionDifference.Dispose();
|
ho_CaltabCandidates.Dispose();
|
ho_ObjectSelected.Dispose();
|
ho_ConnectedMarks.Dispose();
|
ho_ObjectSelectedCaltab.Dispose();
|
ho_RegionFillUpCand.Dispose();
|
ho_MarksCand.Dispose();
|
ho_RegionDilation1.Dispose();
|
ho_ImageReduced.Dispose();
|
ho_DefaultEdges.Dispose();
|
ho_UnionContours.Dispose();
|
ho_SelectedXLD.Dispose();
|
ho_SelectedXLD1.Dispose();
|
|
return;
|
}
|
ho_UnionContours.Dispose();
|
HOperatorSet.UnionCocircularContoursXld(ho_DefaultEdges, out ho_UnionContours,
|
0.5, 0.1, 0.2, 30, 10, 10, "true", 1);
|
ho_SelectedXLD.Dispose();
|
HOperatorSet.SelectShapeXld(ho_UnionContours, out ho_SelectedXLD, "area", "and",
|
30, 10000);
|
ho_SelectedXLD1.Dispose();
|
HOperatorSet.SelectShapeXld(ho_SelectedXLD, out ho_SelectedXLD1, "circularity",
|
"and", 0.4, 1);
|
ho_MarksCand.Dispose();
|
HOperatorSet.SelectShapeXld(ho_SelectedXLD1, out ho_MarksCand, "compactness",
|
"and", 1, 1.5);
|
HOperatorSet.AreaCenterXld(ho_MarksCand, out hv_Area, out hv_Dummy, out hv_Dummy,
|
out hv_DummyS);
|
HOperatorSet.CountObj(ho_MarksCand, out hv_Number);
|
if ((int)(new HTuple(hv_Number.TupleLess(4))) != 0)
|
{
|
ho_ImageMean.Dispose();
|
ho_RegionDynThresh.Dispose();
|
ho_RegionBorder.Dispose();
|
ho_RegionOpening1.Dispose();
|
ho_ConnectedRegions1.Dispose();
|
ho_SelectedRegions4.Dispose();
|
ho_SelectedRegions5.Dispose();
|
ho_RegionBorder2.Dispose();
|
ho_RegionTrans.Dispose();
|
ho_RegionErosion.Dispose();
|
ho_RegionBorder1.Dispose();
|
ho_RegionDilation2.Dispose();
|
ho_RegionDifference1.Dispose();
|
ho_RegionOpening.Dispose();
|
ho_ConnectedRegions.Dispose();
|
ho_SelectedRegions2.Dispose();
|
ho_SelectedRegions.Dispose();
|
ho_RegionFillUp.Dispose();
|
ho_SelectedRegions1.Dispose();
|
ho_RegionIntersection.Dispose();
|
ho_RegionFillUp1.Dispose();
|
ho_RegionDifference.Dispose();
|
ho_CaltabCandidates.Dispose();
|
ho_ObjectSelected.Dispose();
|
ho_ConnectedMarks.Dispose();
|
ho_ObjectSelectedCaltab.Dispose();
|
ho_RegionFillUpCand.Dispose();
|
ho_MarksCand.Dispose();
|
ho_RegionDilation1.Dispose();
|
ho_ImageReduced.Dispose();
|
ho_DefaultEdges.Dispose();
|
ho_UnionContours.Dispose();
|
ho_SelectedXLD.Dispose();
|
ho_SelectedXLD1.Dispose();
|
|
return;
|
}
|
hv_AreaMedian = ((hv_Area.TupleSort())).TupleSelect(hv_Number / 2);
|
ho_Marks.Dispose();
|
HOperatorSet.SelectShapeXld(ho_MarksCand, out ho_Marks, "area", "and", hv_AreaMedian - (hv_AreaMedian * 0.5),
|
hv_AreaMedian + (hv_AreaMedian * 0.5));
|
ho_ImageMean.Dispose();
|
ho_RegionDynThresh.Dispose();
|
ho_RegionBorder.Dispose();
|
ho_RegionOpening1.Dispose();
|
ho_ConnectedRegions1.Dispose();
|
ho_SelectedRegions4.Dispose();
|
ho_SelectedRegions5.Dispose();
|
ho_RegionBorder2.Dispose();
|
ho_RegionTrans.Dispose();
|
ho_RegionErosion.Dispose();
|
ho_RegionBorder1.Dispose();
|
ho_RegionDilation2.Dispose();
|
ho_RegionDifference1.Dispose();
|
ho_RegionOpening.Dispose();
|
ho_ConnectedRegions.Dispose();
|
ho_SelectedRegions2.Dispose();
|
ho_SelectedRegions.Dispose();
|
ho_RegionFillUp.Dispose();
|
ho_SelectedRegions1.Dispose();
|
ho_RegionIntersection.Dispose();
|
ho_RegionFillUp1.Dispose();
|
ho_RegionDifference.Dispose();
|
ho_CaltabCandidates.Dispose();
|
ho_ObjectSelected.Dispose();
|
ho_ConnectedMarks.Dispose();
|
ho_ObjectSelectedCaltab.Dispose();
|
ho_RegionFillUpCand.Dispose();
|
ho_MarksCand.Dispose();
|
ho_RegionDilation1.Dispose();
|
ho_ImageReduced.Dispose();
|
ho_DefaultEdges.Dispose();
|
ho_UnionContours.Dispose();
|
ho_SelectedXLD.Dispose();
|
ho_SelectedXLD1.Dispose();
|
|
return;
|
}
|
|
|
|
|
/// <summary>
|
/// Determines whether the calibration image is overexposed
|
/// </summary>
|
public void eval_caltab_overexposure(HObject ho_Image,
|
HObject ho_Caltab,
|
out HTuple hv_OverexposureScore)
|
{
|
|
// Local iconic variables
|
|
HObject ho_ImageReduced, ho_Region;
|
|
|
// Local control variables
|
|
HTuple hv_AreaCaltab, hv_Row, hv_Column, hv_AreaOverExp;
|
HTuple hv_Thresh, hv_Ratio;
|
|
// Initialize local and output iconic variables
|
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
|
HOperatorSet.GenEmptyObj(out ho_Region);
|
|
//returns a measure of the amount of saturation of the plate
|
hv_OverexposureScore = 0.0;
|
HOperatorSet.AreaCenter(ho_Caltab, out hv_AreaCaltab, out hv_Row, out hv_Column);
|
if ((int)((new HTuple(hv_AreaCaltab.TupleEqual(0))).TupleOr(new HTuple(hv_AreaCaltab.TupleEqual(
|
new HTuple())))) != 0)
|
{
|
ho_ImageReduced.Dispose();
|
ho_Region.Dispose();
|
|
return;
|
}
|
ho_ImageReduced.Dispose();
|
HOperatorSet.ReduceDomain(ho_Image, ho_Caltab, out ho_ImageReduced);
|
ho_Region.Dispose();
|
HOperatorSet.Threshold(ho_ImageReduced, out ho_Region, 255, 255);
|
HOperatorSet.AreaCenter(ho_Region, out hv_AreaOverExp, out hv_Row, out hv_Column);
|
hv_Thresh = 0.15;
|
hv_Ratio = (hv_AreaOverExp.TupleReal()) / hv_AreaCaltab;
|
if ((int)(new HTuple(hv_Ratio.TupleLess(hv_Thresh))) != 0)
|
{
|
hv_OverexposureScore = (((new HTuple(1.0)).TupleConcat(1 - (hv_Ratio / hv_Thresh)))).TupleMin()
|
;
|
}
|
ho_ImageReduced.Dispose();
|
ho_Region.Dispose();
|
|
return;
|
}
|
|
|
/// <summary>
|
/// Evaluates the gray value contrast between the marks and the calibration
|
/// plate and the homogeneity of the used illumination.
|
/// </summary>
|
public void eval_caltab_contrast_homogeneity(HObject ho_Image,
|
HObject ho_Marks,
|
out HTuple hv_Contrast,
|
out HTuple hv_ContrastScore,
|
out HTuple hv_HomogeneityScore)
|
{
|
|
// Local iconic variables
|
|
HObject ho_Region, ho_RegionDilation;
|
|
|
// Local control variables
|
|
HTuple hv_Number, hv_Min, hv_Max, hv_Range;
|
HTuple hv_MinContrast, hv_MaxContrast, hv_DeviationMax;
|
|
// Initialize local and output iconic variables
|
HOperatorSet.GenEmptyObj(out ho_Region);
|
HOperatorSet.GenEmptyObj(out ho_RegionDilation);
|
|
hv_ContrastScore = 0.0;
|
hv_Contrast = 0.0;
|
hv_HomogeneityScore = 0.0;
|
HOperatorSet.CountObj(ho_Marks, out hv_Number);
|
if ((int)(new HTuple(hv_Number.TupleLess(4))) != 0)
|
{
|
ho_Region.Dispose();
|
ho_RegionDilation.Dispose();
|
|
return;
|
}
|
ho_Region.Dispose();
|
HOperatorSet.GenRegionContourXld(ho_Marks, out ho_Region, "margin");
|
ho_RegionDilation.Dispose();
|
HOperatorSet.DilationCircle(ho_Region, out ho_RegionDilation, 5.5);
|
HOperatorSet.MinMaxGray(ho_RegionDilation, ho_Image, 3, out hv_Min, out hv_Max,
|
out hv_Range);
|
//Calculate contrast score
|
hv_Contrast = hv_Range.TupleMean();
|
hv_MinContrast = 70;
|
hv_MaxContrast = 160;
|
if ((int)(new HTuple(hv_Contrast.TupleGreater(hv_MinContrast))) != 0)
|
{
|
hv_ContrastScore = (hv_Contrast - hv_MinContrast) / (hv_MaxContrast - hv_MinContrast);
|
hv_ContrastScore = ((hv_ContrastScore.TupleConcat(1.0))).TupleMin();
|
}
|
//Now for the homogeneity score
|
HOperatorSet.TupleDeviation(hv_Max, out hv_DeviationMax);
|
hv_HomogeneityScore = 1.1 - (hv_DeviationMax / 40.0);
|
hv_HomogeneityScore = ((((((hv_HomogeneityScore.TupleConcat(1.0))).TupleMin()
|
)).TupleConcat(0.0))).TupleMax();
|
ho_Region.Dispose();
|
ho_RegionDilation.Dispose();
|
|
return;
|
|
}
|
|
/// <summary>
|
/// Evaluates the area covered by the calibration plate in the calibration
|
/// image.
|
/// </summary>
|
public void eval_caltab_size(HObject ho_Image,
|
HObject ho_Caltab,
|
HObject ho_Marks,
|
out HTuple hv_SizeScore)
|
{
|
|
|
// Local iconic variables
|
|
HObject ho_Region = null, ho_RegionUnion = null;
|
|
|
// Local control variables
|
|
HTuple hv_Width, hv_Height, hv_Number, hv_Row1 = new HTuple();
|
HTuple hv_Column1 = new HTuple(), hv_Phi1 = new HTuple(), hv_Length1 = new HTuple();
|
HTuple hv_Length2 = new HTuple(), hv_Area = new HTuple(), hv_Row = new HTuple();
|
HTuple hv_Column = new HTuple(), hv_MinRatio, hv_MaxRatio;
|
HTuple hv_Ratio;
|
|
// Initialize local and output iconic variables
|
HOperatorSet.GenEmptyObj(out ho_Region);
|
HOperatorSet.GenEmptyObj(out ho_RegionUnion);
|
|
hv_SizeScore = 0.0;
|
HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height);
|
HOperatorSet.CountObj(ho_Marks, out hv_Number);
|
if ((int)(new HTuple(hv_Number.TupleGreaterEqual(4))) != 0)
|
{
|
//Best approach: Use the surrounding box of the marks as reference size
|
ho_Region.Dispose();
|
HOperatorSet.GenRegionContourXld(ho_Marks, out ho_Region, "filled");
|
ho_RegionUnion.Dispose();
|
HOperatorSet.Union1(ho_Region, out ho_RegionUnion);
|
HOperatorSet.SmallestRectangle2(ho_RegionUnion, out hv_Row1, out hv_Column1,
|
out hv_Phi1, out hv_Length1, out hv_Length2);
|
hv_Area = (hv_Length2 * hv_Length1) * 4;
|
}
|
else
|
{
|
//If no marks could be found: use the caltab as reference size
|
HOperatorSet.AreaCenter(ho_Caltab, out hv_Area, out hv_Row, out hv_Column);
|
if ((int)((new HTuple(hv_Area.TupleEqual(0))).TupleOr(new HTuple(hv_Area.TupleEqual(
|
new HTuple())))) != 0)
|
{
|
ho_Region.Dispose();
|
ho_RegionUnion.Dispose();
|
|
return;
|
}
|
}
|
hv_MinRatio = 0.015;
|
hv_MaxRatio = 0.075;
|
hv_Ratio = (hv_Area.TupleReal()) / (hv_Width * hv_Height);
|
if ((int)(new HTuple(hv_Ratio.TupleGreater(hv_MinRatio))) != 0)
|
{
|
hv_SizeScore = (hv_Ratio - hv_MinRatio) / (hv_MaxRatio - hv_MinRatio);
|
hv_SizeScore = (((new HTuple(1.0)).TupleConcat(hv_SizeScore))).TupleMin();
|
}
|
ho_Region.Dispose();
|
ho_RegionUnion.Dispose();
|
|
return;
|
}
|
|
|
/// <summary>
|
/// Display the axes of a 3d coordinate system.
|
/// </summary>
|
private void disp_3d_coord_system(HTuple hv_WindowHandle,
|
HTuple hv_CamParam,
|
HTuple hv_Pose,
|
HTuple hv_CoordAxesLength)
|
{
|
|
// Local iconic variables
|
|
HObject ho_ContX, ho_ContY, ho_ContZ;
|
|
|
// Local control variables
|
|
HTuple hv_TransWorld2Cam, hv_OrigCamX, hv_OrigCamY;
|
HTuple hv_OrigCamZ, hv_Row0, hv_Column0, hv_X, hv_Y, hv_Z;
|
HTuple hv_RowAxX, hv_ColumnAxX, hv_RowAxY, hv_ColumnAxY;
|
HTuple hv_RowAxZ, hv_ColumnAxZ;
|
|
// Initialize local and output iconic variables
|
HOperatorSet.GenEmptyObj(out ho_ContX);
|
HOperatorSet.GenEmptyObj(out ho_ContY);
|
HOperatorSet.GenEmptyObj(out ho_ContZ);
|
|
if ((int)(new HTuple((new HTuple(hv_Pose.TupleLength())).TupleNotEqual(7))) != 0)
|
{
|
ho_ContX.Dispose();
|
ho_ContY.Dispose();
|
ho_ContZ.Dispose();
|
|
return;
|
}
|
if ((int)(new HTuple(((hv_Pose.TupleSelect(5))).TupleEqual(0.0))) != 0)
|
{
|
ho_ContX.Dispose();
|
ho_ContY.Dispose();
|
ho_ContZ.Dispose();
|
|
return;
|
}
|
HOperatorSet.PoseToHomMat3d(hv_Pose, out hv_TransWorld2Cam);
|
//Project the world origin into the image
|
HOperatorSet.AffineTransPoint3d(hv_TransWorld2Cam, 0, 0, 0, out hv_OrigCamX,
|
out hv_OrigCamY, out hv_OrigCamZ);
|
HOperatorSet.Project3dPoint(hv_OrigCamX, hv_OrigCamY, hv_OrigCamZ, hv_CamParam,
|
out hv_Row0, out hv_Column0);
|
//Project the coordinate axes into the image
|
HOperatorSet.AffineTransPoint3d(hv_TransWorld2Cam, hv_CoordAxesLength, 0, 0,
|
out hv_X, out hv_Y, out hv_Z);
|
HOperatorSet.Project3dPoint(hv_X, hv_Y, hv_Z, hv_CamParam, out hv_RowAxX, out hv_ColumnAxX);
|
HOperatorSet.AffineTransPoint3d(hv_TransWorld2Cam, 0, hv_CoordAxesLength, 0,
|
out hv_X, out hv_Y, out hv_Z);
|
HOperatorSet.Project3dPoint(hv_X, hv_Y, hv_Z, hv_CamParam, out hv_RowAxY, out hv_ColumnAxY);
|
HOperatorSet.AffineTransPoint3d(hv_TransWorld2Cam, 0, 0, hv_CoordAxesLength,
|
out hv_X, out hv_Y, out hv_Z);
|
HOperatorSet.Project3dPoint(hv_X, hv_Y, hv_Z, hv_CamParam, out hv_RowAxZ, out hv_ColumnAxZ);
|
ho_ContX.Dispose();
|
gen_arrow_cont(out ho_ContX, hv_Row0, hv_Column0, hv_RowAxX, hv_ColumnAxX);
|
ho_ContY.Dispose();
|
gen_arrow_cont(out ho_ContY, hv_Row0, hv_Column0, hv_RowAxY, hv_ColumnAxY);
|
ho_ContZ.Dispose();
|
gen_arrow_cont(out ho_ContZ, hv_Row0, hv_Column0, hv_RowAxZ, hv_ColumnAxZ);
|
if (HDevWindowStack.IsOpen())
|
{
|
//dev_display (ContX)
|
}
|
if (HDevWindowStack.IsOpen())
|
{
|
//dev_display (ContY)
|
}
|
if (HDevWindowStack.IsOpen())
|
{
|
//dev_display (ContZ)
|
}
|
HOperatorSet.DispObj(ho_ContX, hv_WindowHandle);
|
HOperatorSet.DispObj(ho_ContY, hv_WindowHandle);
|
HOperatorSet.DispObj(ho_ContZ, hv_WindowHandle);
|
HOperatorSet.SetTposition(hv_WindowHandle, hv_RowAxX + 3, hv_ColumnAxX + 3);
|
HOperatorSet.WriteString(hv_WindowHandle, "X");
|
HOperatorSet.SetTposition(hv_WindowHandle, hv_RowAxY + 3, hv_ColumnAxY + 3);
|
HOperatorSet.WriteString(hv_WindowHandle, "Y");
|
HOperatorSet.SetTposition(hv_WindowHandle, hv_RowAxZ + 3, hv_ColumnAxZ + 3);
|
HOperatorSet.WriteString(hv_WindowHandle, "Z");
|
ho_ContX.Dispose();
|
ho_ContY.Dispose();
|
ho_ContZ.Dispose();
|
|
return;
|
}
|
|
/// <summary>
|
/// Generate a contour in form of an arrow.
|
/// </summary>
|
private void gen_arrow_cont(out HObject ho_Arrow,
|
HTuple hv_Row1,
|
HTuple hv_Column1,
|
HTuple hv_Row2,
|
HTuple hv_Column2)
|
{
|
|
// Local iconic variables
|
|
HObject ho_Cross1, ho_Cross2, ho_CrossP1, ho_CrossP2;
|
|
|
// Local control variables
|
|
HTuple hv_Length, hv_Angle, hv_MinArrowLength;
|
HTuple hv_DRow, hv_DCol, hv_ArrowLength, hv_Phi, hv_P1R;
|
HTuple hv_P1C, hv_P2R, hv_P2C;
|
|
// Initialize local and output iconic variables
|
HOperatorSet.GenEmptyObj(out ho_Arrow);
|
HOperatorSet.GenEmptyObj(out ho_Cross1);
|
HOperatorSet.GenEmptyObj(out ho_Cross2);
|
HOperatorSet.GenEmptyObj(out ho_CrossP1);
|
HOperatorSet.GenEmptyObj(out ho_CrossP2);
|
|
//Generate a contour in form of a arrow
|
hv_Length = 7;
|
hv_Angle = 40;
|
hv_MinArrowLength = 2;
|
hv_DRow = hv_Row2 - hv_Row1;
|
hv_DCol = hv_Column2 - hv_Column1;
|
hv_ArrowLength = (((hv_DRow * hv_DRow) + (hv_DCol * hv_DCol))).TupleSqrt();
|
if ((int)(new HTuple(hv_ArrowLength.TupleLess(hv_MinArrowLength))) != 0)
|
{
|
hv_Length = 0;
|
}
|
HOperatorSet.TupleAtan2(hv_DRow, -hv_DCol, out hv_Phi);
|
hv_P1R = hv_Row2 - (hv_Length * (((hv_Phi - (hv_Angle.TupleRad()))).TupleSin()));
|
hv_P1C = hv_Column2 + (hv_Length * (((hv_Phi - (hv_Angle.TupleRad()))).TupleCos()));
|
hv_P2R = hv_Row2 - (hv_Length * (((hv_Phi + (hv_Angle.TupleRad()))).TupleSin()));
|
hv_P2C = hv_Column2 + (hv_Length * (((hv_Phi + (hv_Angle.TupleRad()))).TupleCos()));
|
ho_Cross1.Dispose();
|
HOperatorSet.GenCrossContourXld(out ho_Cross1, hv_Row1, hv_Column1, 6, 0.785398);
|
ho_Cross2.Dispose();
|
HOperatorSet.GenCrossContourXld(out ho_Cross2, hv_Row2, hv_Column2, 6, 0.785398);
|
ho_CrossP1.Dispose();
|
HOperatorSet.GenCrossContourXld(out ho_CrossP1, hv_P1R, hv_P1C, 6, 0.785398);
|
ho_CrossP2.Dispose();
|
HOperatorSet.GenCrossContourXld(out ho_CrossP2, hv_P2R, hv_P2C, 6, 0.785398);
|
ho_Arrow.Dispose();
|
HOperatorSet.GenContourPolygonXld(out ho_Arrow, ((((((hv_Row1.TupleConcat(hv_Row2))).TupleConcat(
|
hv_P1R))).TupleConcat(hv_Row2))).TupleConcat(hv_P2R), ((((((hv_Column1.TupleConcat(
|
hv_Column2))).TupleConcat(hv_P1C))).TupleConcat(hv_Column2))).TupleConcat(
|
hv_P2C));
|
ho_Cross1.Dispose();
|
ho_Cross2.Dispose();
|
ho_CrossP1.Dispose();
|
ho_CrossP2.Dispose();
|
|
return;
|
}
|
|
private void tuple_equal_greater(HTuple hv_Tuple,
|
HTuple hv_Threshold,
|
out HTuple hv_Selected,
|
out HTuple hv_Indices)
|
{
|
|
// Local control variables
|
|
HTuple hv_Sgn;
|
|
// Initialize local and output iconic variables
|
|
hv_Selected = new HTuple();
|
HOperatorSet.TupleSgn(hv_Tuple - hv_Threshold, out hv_Sgn);
|
HOperatorSet.TupleFind(hv_Sgn, 1, out hv_Indices);
|
if ((int)((new HTuple((new HTuple(hv_Indices.TupleLength())).TupleGreater(1))).TupleOr(
|
new HTuple(((hv_Indices.TupleSelect(0))).TupleNotEqual(-1)))) != 0)
|
{
|
HOperatorSet.TupleSelect(hv_Tuple, hv_Indices, out hv_Selected);
|
}
|
|
return;
|
}
|
|
private void gen_fuzzy_weight_funct(HTuple hv_NPoints,
|
HTuple hv_Min,
|
HTuple hv_Max,
|
HTuple hv_LowPass,
|
HTuple hv_HighPass,
|
out HTuple hv_FuzzyFunct)
|
{
|
|
// Local control variables
|
|
HTuple hv_Ones, hv_Index, hv_X, hv_Y, hv_Dummy;
|
HTuple hv_IndicesTrans, hv_IndicesHigh, hv_i, hv_NTransPoints;
|
|
// Initialize local and output iconic variables
|
|
//generates a function which is 0.0 for values lower than LowPass, 1.0 for
|
//values over HighPass, and grows linearly for values in between the two
|
HOperatorSet.TupleGenConst(hv_NPoints, 1, out hv_Ones);
|
hv_Index = ((hv_Ones.TupleCumul()) - 1) / ((new HTuple(hv_Ones.TupleLength())).TupleReal()
|
);
|
hv_X = (hv_Index * (hv_Max - hv_Min)) + hv_Min;
|
HOperatorSet.TupleGenConst(new HTuple(hv_X.TupleLength()), 0.0, out hv_Y);
|
tuple_equal_greater(hv_X, hv_LowPass, out hv_Dummy, out hv_IndicesTrans);
|
tuple_equal_greater(hv_X, hv_HighPass, out hv_Dummy, out hv_IndicesHigh);
|
//ramp from LowPass (0.0) to Highpass (1.0)
|
hv_i = 0;
|
while ((int)(new HTuple(((hv_IndicesTrans.TupleSelect(hv_i))).TupleLess(hv_IndicesHigh.TupleSelect(
|
0)))) != 0)
|
{
|
hv_i = hv_i + 1;
|
}
|
hv_NTransPoints = hv_i.Clone();
|
for (hv_i = 0; hv_i.Continue(hv_NTransPoints - 1, 1); hv_i = hv_i.TupleAdd(1))
|
{
|
if (hv_Y == null)
|
hv_Y = new HTuple();
|
hv_Y[hv_IndicesTrans.TupleSelect(hv_i)] = (hv_i.TupleReal()) / hv_NTransPoints;
|
}
|
for (hv_i = hv_IndicesTrans.TupleSelect(hv_NTransPoints); hv_i.Continue((new HTuple(hv_Y.TupleLength()
|
)) - 1, 1); hv_i = hv_i.TupleAdd(1))
|
{
|
if (hv_Y == null)
|
hv_Y = new HTuple();
|
hv_Y[hv_i] = 1.0;
|
}
|
HOperatorSet.CreateFunct1dPairs(hv_X, hv_Y, out hv_FuzzyFunct);
|
|
return;
|
}
|
|
|
/// <summary>
|
/// Measures the tilt that is used for the plates in the set
|
/// of calibration images. The more tilted plates are used
|
/// in the image set, the better you can correct the radial
|
/// distortion of the lense by performing the calibration.
|
/// </summary>
|
public void eval_caltab_tilt(HTuple hv_FinalPoses,
|
out HTuple hv_TiltScore)
|
{
|
|
// Local control variables
|
|
HTuple hv_NImages, hv_Ones, hv_Index, hv_Slant;
|
HTuple hv_Pan, hv_FuzzyFunct, hv_SlantWeight, hv_PanWeight;
|
HTuple hv_TmpPan, hv_TmpSlant;
|
|
// Initialize local and output iconic variables
|
|
hv_NImages = (new HTuple(hv_FinalPoses.TupleLength())) / 7;
|
HOperatorSet.TupleGenConst(hv_NImages, 1, out hv_Ones);
|
hv_Index = (hv_Ones.TupleCumul()) - 1;
|
HOperatorSet.TupleSelect(hv_FinalPoses, (7 * hv_Index) + 3, out hv_Slant);
|
HOperatorSet.TupleSelect(hv_FinalPoses, (7 * hv_Index) + 4, out hv_Pan);
|
for (hv_Index = 0; (int)hv_Index <= (int)((new HTuple(hv_Slant.TupleLength())) - 1); hv_Index = (int)hv_Index + 1)
|
{
|
if ((int)(new HTuple(((hv_Slant.TupleSelect(hv_Index))).TupleGreater(180))) != 0)
|
{
|
if (hv_Slant == null)
|
hv_Slant = new HTuple();
|
hv_Slant[hv_Index] = 360 - (hv_Slant.TupleSelect(hv_Index));
|
}
|
}
|
for (hv_Index = 0; (int)hv_Index <= (int)((new HTuple(hv_Pan.TupleLength())) - 1); hv_Index = (int)hv_Index + 1)
|
{
|
if ((int)(new HTuple(((hv_Pan.TupleSelect(hv_Index))).TupleGreater(180))) != 0)
|
{
|
if (hv_Pan == null)
|
hv_Pan = new HTuple();
|
hv_Pan[hv_Index] = 360 - (hv_Pan.TupleSelect(hv_Index));
|
}
|
}
|
hv_Pan = hv_Pan.TupleRad();
|
hv_Slant = hv_Slant.TupleRad();
|
//function acting as a fuzzy weighting
|
gen_fuzzy_weight_funct(256, (new HTuple(0.0)).TupleRad(), (new HTuple(90.0)).TupleRad()
|
, (new HTuple(15.0)).TupleRad(), (new HTuple(40.0)).TupleRad(), out hv_FuzzyFunct);
|
HOperatorSet.GetYValueFunct1d(hv_FuzzyFunct, hv_Slant, "constant", out hv_SlantWeight);
|
HOperatorSet.GetYValueFunct1d(hv_FuzzyFunct, hv_Pan, "constant", out hv_PanWeight);
|
//Calculate score value
|
hv_TmpPan = (hv_PanWeight.TupleSum()) / 6;
|
hv_TmpPan = ((hv_TmpPan.TupleConcat(0.5))).TupleMin();
|
hv_TmpSlant = (hv_SlantWeight.TupleSum()) / 6;
|
hv_TmpSlant = ((hv_TmpSlant.TupleConcat(0.5))).TupleMin();
|
hv_TiltScore = hv_TmpSlant + hv_TmpPan;
|
|
return;
|
}
|
|
|
/// <summary>
|
/// Evaluates the distribution of the marks and hence the plates
|
/// used for the calibration images. Precise measurements can only be
|
/// achieved if the field view of the camera is covered well by the
|
/// calibration plate in the images.
|
/// </summary>
|
public void eval_marks_distribution(HTuple hv_NRCoord,
|
HTuple hv_NCCoord,
|
HTuple hv_Width,
|
HTuple hv_Height,
|
out HTuple hv_MarksDistributionScore)
|
{
|
// Local iconic variables
|
|
HObject ho_Region, ho_DistanceImage, ho_Mask;
|
|
|
// Local control variables
|
|
HTuple hv_Border, hv_Min, hv_Max, hv_Range;
|
HTuple hv_ImageDiagonal, hv_MinThresh, hv_MaxThresh, hv_Ratio;
|
HTuple hv_Tmp1, hv_Tmp2;
|
|
// Initialize local and output iconic variables
|
HOperatorSet.GenEmptyObj(out ho_Region);
|
HOperatorSet.GenEmptyObj(out ho_DistanceImage);
|
HOperatorSet.GenEmptyObj(out ho_Mask);
|
|
//Determine the distances between the marks centers
|
ho_Region.Dispose();
|
HOperatorSet.GenRegionPoints(out ho_Region, hv_NRCoord, hv_NCCoord);
|
ho_DistanceImage.Dispose();
|
HOperatorSet.DistanceTransform(ho_Region, out ho_DistanceImage, "octagonal",
|
"false", hv_Width, hv_Height);
|
//A clipping is needed because the marks cannot come close to the border
|
hv_Border = (((hv_Width.TupleConcat(hv_Height))).TupleMax()) / 15;
|
ho_Mask.Dispose();
|
HOperatorSet.GenRectangle1(out ho_Mask, hv_Border, hv_Border, (hv_Height - 1) - hv_Border,
|
(hv_Width - 1) - hv_Border);
|
HOperatorSet.MinMaxGray(ho_Mask, ho_DistanceImage, 0, out hv_Min, out hv_Max,
|
out hv_Range);
|
HOperatorSet.DistancePp(0, 0, hv_Height - 1, hv_Width - 1, out hv_ImageDiagonal);
|
hv_MinThresh = 0.3;
|
hv_MaxThresh = 0.85;
|
hv_Ratio = (hv_Max / hv_ImageDiagonal) * 2.5;
|
hv_Tmp1 = 1 - hv_Ratio;
|
hv_Tmp2 = (hv_Tmp1 - hv_MinThresh) / (hv_MaxThresh - hv_MinThresh);
|
hv_MarksDistributionScore = ((((((hv_Tmp2.TupleConcat(1.0))).TupleMin())).TupleConcat(
|
0.0))).TupleMax();
|
ho_Region.Dispose();
|
ho_DistanceImage.Dispose();
|
ho_Mask.Dispose();
|
|
return;
|
|
}
|
|
/// <summary>
|
/// Auxiliary method for display purposes. Returns the coordinate system
|
/// described by the parameters <c>hv_CamParam</c> and <c>hv_Pose</c>
|
/// as an iconic object.
|
/// </summary>
|
public void get_3d_coord_system(HObject ho_ImageReference,
|
out HObject ho_CoordSystemRegion,
|
HTuple hv_CamParam,
|
HTuple hv_Pose,
|
HTuple hv_CoordAxesLength)
|
{
|
|
// Local iconic variables
|
|
HObject ho_CoordSystemImage;
|
|
|
// Local control variables
|
|
HTuple hv_Width, hv_Height, hv_OldBG, hv_WindowHandle;
|
|
// Initialize local and output iconic variables
|
HOperatorSet.GenEmptyObj(out ho_CoordSystemRegion);
|
HOperatorSet.GenEmptyObj(out ho_CoordSystemImage);
|
|
HOperatorSet.GetImageSize(ho_ImageReference, out hv_Width, out hv_Height);
|
HOperatorSet.GetWindowAttr("background_color", out hv_OldBG);
|
HOperatorSet.SetWindowAttr("background_color", "black");
|
HOperatorSet.OpenWindow(0, 0, hv_Width, hv_Height, 0, "buffer", "", out hv_WindowHandle);
|
HOperatorSet.SetWindowAttr("background_color", hv_OldBG);
|
HOperatorSet.SetColor(hv_WindowHandle, "white");
|
HOperatorSet.SetPart(hv_WindowHandle, 0, 0, hv_Height - 1, hv_Width - 1);
|
disp_3d_coord_system(hv_WindowHandle, hv_CamParam, hv_Pose, hv_CoordAxesLength);
|
ho_CoordSystemImage.Dispose();
|
HOperatorSet.DumpWindowImage(out ho_CoordSystemImage, hv_WindowHandle);
|
HOperatorSet.CloseWindow(hv_WindowHandle);
|
ho_CoordSystemRegion.Dispose();
|
HOperatorSet.Threshold(ho_CoordSystemImage, out ho_CoordSystemRegion, 255, 255);
|
ho_CoordSystemImage.Dispose();
|
|
return;
|
}
|
}
|
}
|
