using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Drawing;
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using System.Linq;
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using System.Text;
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using System.Windows.Forms;
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using HalconDotNet;
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using System.IO;
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using System.Threading;
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namespace M423project
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{
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public partial class ImageForm : Form
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{
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MainForm mf;
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public ImageForm(OPC Opc, ConfigStruct Config)
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{
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mf = CommonUtil.mainForm;
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InitializeComponent();
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this.config = Config;
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this.opc = Opc;
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CheckForIllegalCrossThreadCalls = false;
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}
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OPC opc;
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ConfigStruct config = new ConfigStruct();
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ToolKit.FileToolkit.SerializeFileTool<ConfigStruct> sftConfig = new ToolKit.FileToolkit.SerializeFileTool<ConfigStruct>();
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//uint CameraSN = 0;
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HObject Image = new HObject();
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HTuple startCamParam = new HTuple(), cameraParam = new HTuple(), ImagesPath = new HTuple(), nFinalPoses = new HTuple(), error = new HTuple(), pixScale = new HTuple();
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HTuple threshold = new HTuple(), ImageRows = new HTuple(), ImageColumns = new HTuple(), RobotRows = new HTuple(), RobotColumns = new HTuple();
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string CaltabFileName = "";
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//uint loadCamSN = 14050791;//上料相机的序列号
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//uint unloadCamSN = 14150928;//下料相机的序列号
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//uint datacodeCamSN = 14150932;//读码相机的序列号
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//uint xyCamSN = 14103341;//测电池长宽相机的序列号
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//string CameraDeviceXY = "[0] Point Grey Camera";
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HTuple AcqHandle = new HTuple();
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string local = Directory.GetCurrentDirectory();
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//PointGreyAndHalcon.PointGreyAndHalcon pga = new PointGreyAndHalcon.PointGreyAndHalcon();
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VisionDetect vd = new VisionDetect();
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int num;
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int count;
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bool isHandGrab = false;
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bool isCalibrateOK = false;
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bool performDotCalib = false;
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bool isDotCalibrateOK = false;
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bool isOK = false;
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int RowCount = 0;
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int ColumnCount = 0;//点阵行列数
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ImageToRobotHomat2d imageToRobotH = new ImageToRobotHomat2d();
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HTuple Row = new HTuple(), Column = new HTuple(), Angle = new HTuple();
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//int SuckerIndex=0;//代表机械手末端执行器吸盘的索引
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//int CalibTableIndex = 0;//代表上料Tray盘需要标定的盘位索引
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#region 方法
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void Initialize()
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{
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tbThreshold.Text = config.Threshold.ToString();
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}
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void pga_GrabImageDone(string recData, HImage recImage)
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{
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tbSN.Text = recData;
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//throw new NotImplementedException();
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}
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private void DisplayDotCalibrate(HObject image, HTuple windowHandle, HTuple rows, HTuple columns, bool isCalibOK)
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{
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VisionDetect.DisplayImage(image, windowHandle);
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if (isCalibOK)
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{
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HOperatorSet.SetColor(windowHandle, "green");
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HOperatorSet.DispCross(windowHandle, rows, columns, 30, 0);
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}
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}
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private void StartCamParam()
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{
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startCamParam[0] = cbTelecentricLens.Checked ? 0 : (Convert.ToDouble(tbF.Text)) * 0.001; //镜头焦距
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startCamParam[1] = Convert.ToDouble(tbKappa.Text); //镜头畸变系数
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startCamParam[2] = (Convert.ToDouble(tbSx.Text)) * (0.000001); //单个像元宽
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startCamParam[3] = (Convert.ToDouble(tbSy.Text)) * (0.000001); //单个像元高
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startCamParam[4] = Convert.ToDouble(tbCx.Text); //图像中心坐标Cx;
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startCamParam[5] = Convert.ToDouble(tbCy.Text); //图像中心坐标Cy;
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startCamParam[6] = (Convert.ToDouble(tbCx.Text)) * 2; //图像宽;
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startCamParam[7] = (Convert.ToDouble(tbCy.Text)) * 2; //图像高;
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}
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//可以使用string.Split方法
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private void SeparateStr(string str, out string str1, out string str2)
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{
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int first = str.IndexOf(",", 0);
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str1 = str.Substring(0, first);
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str2 = str.Substring(first + 1, str.Length - first - 1);
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}
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private void SetValuesToDGV(DataGridView dgv, HTuple rows, HTuple columns)
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{
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for (int i = 0; i < dgv.RowCount; i++)
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{
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for (int j = 0; j < dgv.ColumnCount; j++)
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{
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dgv.Rows[i].Cells[j].Value = rows[i * dgv.ColumnCount + j].D.ToString("f3") + "," + columns[i * dgv.ColumnCount + j].D.ToString("f3");
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}
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}
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}
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private void SetValuesFromDGV(DataGridView dgv, out HTuple rows, out HTuple columns)
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{
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rows = new HTuple();
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columns = new HTuple();
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for (int i = 0; i < dgv.RowCount; i++)
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{
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for (int j = 0; j < dgv.ColumnCount; j++)
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{
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string[] strValue = dgv.Rows[i].Cells[j].Value.ToString().Split(',');
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rows[i * dgv.ColumnCount + j] = strValue[0];
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columns[i * dgv.ColumnCount + j] = strValue[1];
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}
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}
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}
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private void ChangeControl(int x, bool flag)
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{
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switch (x)
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{
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case 0:
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cbxCamera.Enabled = flag;
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btnOpenVideo.Enabled = flag;
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btnCloseVideo.Enabled = !flag;
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panelMode.Enabled = flag;
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break;
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case 1:
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cbxCamera.Enabled = flag;
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btnOpenVideo.Enabled = !flag;
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btnCloseVideo.Enabled = flag;
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panelMode.Enabled = flag;
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break;
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case 2:
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cbxCamera.Enabled = flag;
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btnOpenVideo.Enabled = !flag;
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btnCloseVideo.Enabled = !flag;
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panelMode.Enabled = flag;
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break;
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default:
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break;
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}
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}
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private void ClearDGV(DataGridView dgv)
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{
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for (int i = 0; i < dgv.RowCount; i++)
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{
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for (int j = 0; j < dgv.ColumnCount; j++)
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{
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dgv.Rows[i].Cells[j].Value = null;
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}
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}
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}
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private void SetH()
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{
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switch (cbRobotIndex.SelectedIndex)
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{
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case 0:
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switch (cbSuckerIndex.SelectedIndex)
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{
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case 0:
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switch (cbxCalibTable.SelectedIndex)
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{
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case 0:
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imageToRobotH = config.loadRobotHomat2d.left.one;
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break;
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case 1:
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imageToRobotH = config.loadRobotHomat2d.left.two;
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break;
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case 2:
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imageToRobotH = config.loadRobotHomat2d.left.three;
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break;
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case 3:
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imageToRobotH = config.loadRobotHomat2d.left.four;
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break;
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case 4:
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imageToRobotH = config.loadRobotHomat2d.left.five;
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break;
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case 5:
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imageToRobotH = config.loadRobotHomat2d.left.six;
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break;
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case 6:
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imageToRobotH = config.loadRobotHomat2d.left.seven;
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break;
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case 7:
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imageToRobotH = config.loadRobotHomat2d.left.eight;
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break;
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case 8:
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imageToRobotH = config.loadRobotHomat2d.left.nine;
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break;
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case 9:
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imageToRobotH = config.loadRobotHomat2d.left.ten;
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break;
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default:
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break;
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}
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break;
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case 1:
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switch (cbxCalibTable.SelectedIndex)
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{
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case 0:
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imageToRobotH = config.loadRobotHomat2d.right.one;
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break;
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case 1:
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imageToRobotH = config.loadRobotHomat2d.right.two;
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break;
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case 2:
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imageToRobotH = config.loadRobotHomat2d.right.three;
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break;
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case 3:
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imageToRobotH = config.loadRobotHomat2d.right.four;
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break;
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case 4:
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imageToRobotH = config.loadRobotHomat2d.right.five;
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break;
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case 5:
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imageToRobotH = config.loadRobotHomat2d.right.six;
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break;
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case 6:
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imageToRobotH = config.loadRobotHomat2d.right.seven;
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break;
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case 7:
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imageToRobotH = config.loadRobotHomat2d.right.eight;
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break;
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case 8:
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imageToRobotH = config.loadRobotHomat2d.right.nine;
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break;
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case 9:
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imageToRobotH = config.loadRobotHomat2d.right.ten;
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break;
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default:
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break;
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}
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break;
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}
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break;
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case 1:
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switch (cbSuckerIndex.SelectedIndex)
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{
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case 0:
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switch (cbxCalibTable.SelectedIndex)
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{
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case 0:
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imageToRobotH = config.unloadRobotHomat2d.left.one;
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break;
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case 1:
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imageToRobotH = config.unloadRobotHomat2d.left.two;
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break;
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case 2:
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imageToRobotH = config.unloadRobotHomat2d.left.three;
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break;
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case 3:
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imageToRobotH = config.unloadRobotHomat2d.left.four;
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break;
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case 4:
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imageToRobotH = config.unloadRobotHomat2d.left.five;
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break;
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case 5:
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imageToRobotH = config.unloadRobotHomat2d.left.six;
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break;
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case 6:
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imageToRobotH = config.unloadRobotHomat2d.left.seven;
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break;
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case 7:
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imageToRobotH = config.unloadRobotHomat2d.left.eight;
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break;
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case 8:
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imageToRobotH = config.unloadRobotHomat2d.left.nine;
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break;
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case 9:
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imageToRobotH = config.unloadRobotHomat2d.left.ten;
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break;
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default:
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break;
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}
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break;
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case 1:
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switch (cbxCalibTable.SelectedIndex)
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{
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case 0:
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imageToRobotH = config.unloadRobotHomat2d.right.one;
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break;
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case 1:
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imageToRobotH = config.unloadRobotHomat2d.right.two;
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break;
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case 2:
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imageToRobotH = config.unloadRobotHomat2d.right.three;
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break;
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case 3:
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imageToRobotH = config.unloadRobotHomat2d.right.four;
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break;
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case 4:
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imageToRobotH = config.unloadRobotHomat2d.right.five;
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break;
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case 5:
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imageToRobotH = config.unloadRobotHomat2d.right.six;
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break;
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case 6:
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imageToRobotH = config.unloadRobotHomat2d.right.seven;
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break;
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case 7:
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imageToRobotH = config.unloadRobotHomat2d.right.eight;
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break;
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case 8:
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imageToRobotH = config.unloadRobotHomat2d.right.nine;
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break;
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case 9:
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imageToRobotH = config.unloadRobotHomat2d.right.ten;
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break;
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default:
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break;
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}
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break;
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}
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break;
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default:
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break;
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}
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}
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private void SetHValue(HTuple tuple)
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{
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imageToRobotH.t1 = tuple[0].D;
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imageToRobotH.t2 = tuple[1].D;
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imageToRobotH.t3 = tuple[2].D;
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imageToRobotH.t4 = tuple[3].D;
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imageToRobotH.t5 = tuple[4].D;
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imageToRobotH.t6 = tuple[5].D;
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}
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#endregion
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#region 事件
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private void btnOpenVideo_Click(object sender, EventArgs e)
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{
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try
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{
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//if (cbxCamera.SelectedIndex != 2) pga.OpenCamera(CameraSN);
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//else HOperatorSet.OpenFramegrabber("DirectShow", 1, 1, 0, 0, 0, 0, "default", 8, "gray", -1, "false", "default", CameraDeviceXY, 0, -1, out AcqHandleXY);
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HTuple ExposureTime = new HTuple();
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tmVideo.Enabled = true;
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ChangeControl(0, false);
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//if (cbxCamera.SelectedIndex < 2)
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//{
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// HOperatorSet.GetFramegrabberParam(AcqHandle, "ExposureTime", out ExposureTime);
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// tbExposure.Text = ExposureTime.D.ToString();
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//}
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//if (cbxCamera.SelectedIndex == 2)
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//{
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// HOperatorSet.GetFramegrabberParam(AcqHandle, "exposure", out ExposureTime);
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// tbExposure.Text = ExposureTime.D.ToString();
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//}
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}
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catch (Exception)
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{
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}
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}
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private void btnCloseVideo_Click(object sender, EventArgs e)
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{
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try
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{
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tmVideo.Enabled = false;
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//if (cbxCamera.SelectedIndex != 2) pga.CloseCamera();
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//else HOperatorSet.CloseFramegrabber(AcqHandleXY);
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ChangeControl(0, true);
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HOperatorSet.ClearWindow(hWindowControl1.HalconWindow);
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}
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catch (Exception)
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{
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//tmVideo.Enabled = false;
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//ChangeControl(0, true);
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//HOperatorSet.ClearWindow(hWindowControl1.HalconWindow);
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}
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}
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private void tmVideo_Tick(object sender, EventArgs e)
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{
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try
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{
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Image.Dispose();
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//if (cbxCamera.SelectedIndex != 2)
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//{
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// pga.GrabImage(CameraSN.ToString());
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// Image = pga.hoImage;
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//}
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//else
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//{
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VisionDetect.GrabImage(AcqHandle, out Image);
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//}
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VisionDetect.DisplayImage(Image, hWindowControl1.HalconWindow);
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if (rbCreateModel.Checked)
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{
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tmVideo.Enabled = false;
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}
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if (rbCamCalibrate.Checked && isOK)
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{
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vd.IsCaltabCalibrate(Image, CaltabFileName, startCamParam, hWindowControl1.HalconWindow, out isCalibrateOK);
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if (isCalibrateOK && isHandGrab)
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{
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ImagesPath[num] = "D:\\Image\\" + cbxCamera.SelectedItem.ToString() + "\\" + num.ToString() + ".tif";
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VisionDetect.SaveImage(Image, "tiff", "D:\\Image\\" + cbxCamera.SelectedItem.ToString(), num);
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num++;
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lbGrabbed.Text = num.ToString();
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if (num == numericUpDown1.Value)
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{
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isOK = false;
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MessageBox.Show("图像数量已满足,请关闭视频流。", "Information", MessageBoxButtons.OK, MessageBoxIcon.Information);
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}
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isHandGrab = false;
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}
|
}
|
if (rbRobotCalibrate.Checked)
|
{
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HTuple rows = new HTuple(), columns = new HTuple();
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vd.isDotCalibrate(Image, threshold, 6, 4, ref rows, ref columns, out isDotCalibrateOK);
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if (isDotCalibrateOK && performDotCalib)
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{
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ClearDGV(dgvImageStatistics);
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DisplayDotCalibrate(Image, hWindowControl1.HalconWindow, rows, columns, isDotCalibrateOK);
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HOperatorSet.TupleConcat(ImageRows, rows, out ImageRows);
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HOperatorSet.TupleConcat(ImageColumns, columns, out ImageColumns);
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SetValuesToDGV(dgvImageStatistics, rows, columns);
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VisionDetect.SaveImage(Image, "tiff", "D:\\Image\\NineSquare\\" + (count + 1).ToString());
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}
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performDotCalib = false;
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}
|
}
|
catch (Exception)
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{
|
}
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}
|
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private void btnSelectCaltabFile_Click(object sender, EventArgs e)
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{
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OpenFileDialog ofd = new OpenFileDialog();
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ofd.InitialDirectory = local;
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if (ofd.ShowDialog() == DialogResult.OK)
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{
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CaltabFileName = ofd.FileName;
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}
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}
|
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private void btnCamCalibrate_Click(object sender, EventArgs e)
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{
|
try
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{
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vd.CameraCalibrate(ImagesPath, CaltabFileName, startCamParam, hWindowControl1.HalconWindow,
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ref cameraParam, ref nFinalPoses, ref error, ref pixScale);
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tbPixscale.Text = pixScale.D.ToString();
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MessageBox.Show("相机标定成功！", "Information", MessageBoxButtons.OK, MessageBoxIcon.Information);
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}
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catch (Exception ee)
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{
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MessageBox.Show(ee.ToString(), "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
|
}
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}
|
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private void HandGrab_Click(object sender, EventArgs e)
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{
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isHandGrab = true;
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}
|
|
private void btnCamParamSave_Click(object sender, EventArgs e)
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{
|
SaveFileDialog sfd = new SaveFileDialog();
|
sfd.InitialDirectory = local;
|
if (sfd.ShowDialog() == DialogResult.OK)
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{
|
vd.SaveCamParam(cameraParam, sfd.FileName);
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MessageBox.Show("保存成功！", "Information", MessageBoxButtons.OK, MessageBoxIcon.Information);
|
}
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}
|
|
private void ImageForm_Load(object sender, EventArgs e)
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{
|
rbCamDebug.Checked = true;
|
gbCamCalibrate.Enabled = false;
|
gbRobotCalibrate.Enabled = false;
|
gbCreateModel.Enabled = false;
|
gbPosition.Enabled = false;
|
ChangeControl(2, true);
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dgvRobotStatistics.TopLeftHeaderCell.Value = "Robot Data";
|
dgvImageStatistics.TopLeftHeaderCell.Value = "Image Data";
|
//pga.GrabImageDone += new PointGreyAndHalcon.GrabImageDoneDelegate(pga_GrabImageDone);
|
Initialize();
|
}
|
|
private void rbCamDebug_CheckedChanged(object sender, EventArgs e)
|
{
|
gbCamCalibrate.Enabled = rbCamCalibrate.Checked;
|
gbRobotCalibrate.Enabled = rbRobotCalibrate.Checked;
|
gbCreateModel.Enabled = rbCreateModel.Checked;
|
gbPosition.Enabled = rbPosition.Checked;
|
//switch (rbn.Name)
|
//{
|
// case "rbCamDebug":
|
// //gbDebug.Enabled = true;
|
// gbCamCalibrate.Enabled = false;
|
// gbRobotCalibrate.Enabled = false;
|
// break;
|
// case "rbCamCalibrate":
|
// //gbDebug.Enabled = true;
|
// gbCamCalibrate.Enabled = true;
|
// gbRobotCalibrate.Enabled = false;
|
// break;
|
// case "rbRobotCalibrate":
|
// //gbDebug.Enabled = true;
|
// gbCamCalibrate.Enabled = false;
|
// gbRobotCalibrate.Enabled = true;
|
// break;
|
// case "rbCreateModel":
|
// //gbDebug.Enabled = true;
|
// gbCamCalibrate.Enabled = false;
|
// gbRobotCalibrate.Enabled = false;
|
// break;
|
// default:
|
// break;
|
//}
|
}
|
|
private void cbTelecentricLens_CheckedChanged(object sender, EventArgs e)
|
{
|
tbF.Enabled = !cbTelecentricLens.Checked;
|
}
|
|
private void tbExposure_TextChanged(object sender, EventArgs e)
|
{
|
try
|
{
|
HOperatorSet.SetFramegrabberParam(AcqHandle, "ExposureTime", Convert.ToDouble(tbExposure.Text));
|
}
|
catch (Exception)
|
{
|
}
|
}
|
|
private void dgvImageStatistics_CellClick(object sender, DataGridViewCellEventArgs e)
|
{
|
if (e.RowIndex > -1 && e.ColumnIndex == 9)
|
{
|
|
count = e.RowIndex;
|
}
|
}
|
|
private void btnTransform_Click(object sender, EventArgs e)
|
{
|
//执行机械手坐标与图像坐标之间的转换矩阵，vector_to_hom_mat2d/3d
|
//分清楚是哪个机械手(load,unload)的末端执行器上哪个吸盘(left,right)吸Tray盘的哪个盘位（1...10）
|
HTuple H;
|
double[] hlist = new double[6];
|
try
|
{
|
SetH();
|
HOperatorSet.VectorToHomMat2d(ImageColumns, ImageRows, RobotColumns, RobotRows, out H);
|
SetHValue(H);
|
sftConfig.SetConfig(local + "\\Config\\M423Config.xml", config);
|
//计算完成后清空图像坐标与机械手坐标
|
ImageRows = new HTuple();
|
ImageColumns = new HTuple();
|
RobotRows = new HTuple();
|
RobotColumns = new HTuple();
|
MessageBox.Show("矩阵计算完成！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
|
}
|
catch (Exception)
|
{
|
ImageRows = new HTuple();
|
ImageColumns = new HTuple();
|
RobotRows = new HTuple();
|
RobotColumns = new HTuple();
|
MessageBox.Show("矩阵计算失败！", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
|
}
|
|
}
|
|
private void ImageForm_FormClosing(object sender, FormClosingEventArgs e)
|
{
|
try
|
{
|
tmVideo.Enabled = false;
|
this.DialogResult = DialogResult.OK;
|
//pga.CloseCamera();
|
}
|
catch (Exception)
|
{
|
//HOperatorSet.CloseAllFramegrabbers();
|
}
|
}
|
|
private void tbThreshold_TextChanged(object sender, EventArgs e)
|
{
|
try
|
{
|
threshold = (HTuple)tbThreshold.Text;
|
}
|
catch (Exception)
|
{
|
}
|
}
|
|
private void btnOK_Click(object sender, EventArgs e)
|
{
|
StartCamParam();
|
isOK = true;
|
num = 0;
|
lbGrabbed.Text = "0";
|
}
|
|
private void cbAutoCx_CheckedChanged(object sender, EventArgs e)
|
{
|
HTuple w, h;
|
CheckBox cb = (CheckBox)sender;
|
if (cb.Checked)
|
{
|
Image.Dispose();
|
//if (cbxCamera.SelectedIndex!=2)
|
//{
|
// pga.hoImage.Dispose();
|
// pga.GrabImage(CameraSN.ToString());
|
// Image = pga.hoImage;
|
//}
|
//else
|
//{
|
VisionDetect.GrabImage(AcqHandle, out Image);
|
//}
|
HOperatorSet.GetImageSize(Image, out w, out h);
|
if (cb.Name == "cbAutoCx") tbCx.Text = (w.D * 0.5).ToString();
|
if (cb.Name == "cbAutoCy") tbCy.Text = (h.D * 0.5).ToString();
|
}
|
tbCx.Enabled = !cbAutoCx.Checked;
|
tbCy.Enabled = !cbAutoCy.Checked;
|
}
|
|
private void btnSaveConfig_Click(object sender, EventArgs e)
|
{
|
config.Exposure = Convert.ToDouble(tbExposure.Text);
|
config.Threshold = Convert.ToInt32(tbThreshold.Text);
|
sftConfig.SetConfig(local + "\\Config\\M423Config.xml", config);
|
}
|
|
private void btnPixscaleSave_Click(object sender, EventArgs e)
|
{
|
switch (cbxCamera.SelectedIndex)
|
{
|
case 0:
|
config.LoadCameraScale = Convert.ToDouble(tbPixscale.Text);
|
break;
|
case 1:
|
config.DataCodeCameraScale = Convert.ToDouble(tbPixscale.Text);
|
break;
|
case 2:
|
config.XyCameraScale = Convert.ToDouble(tbPixscale.Text);
|
break;
|
case 3:
|
config.UnloadCameraScale = Convert.ToDouble(tbPixscale.Text);
|
break;
|
default:
|
break;
|
}
|
sftConfig.SetConfig(local + "\\Config\\M423Config.xml", config);
|
}
|
|
private void cbxModel_SelectedIndexChanged(object sender, EventArgs e)
|
{
|
if (rbCreateModel.Checked)
|
{
|
try
|
{
|
string SN = "";
|
switch (cbxModel.SelectedIndex)
|
{
|
case 0:
|
vd.CreateLoadModel(Image, hWindowControl1.HalconWindow, local + "\\Model\\ModelThreeRects.shm");
|
break;
|
case 1:
|
vd.CreateLoadModel(Image, hWindowControl1.HalconWindow, local + "\\Model\\ModelTriangle.shm");
|
break;
|
case 2:
|
vd.Create2DDataCodeModel(Image, hWindowControl1.HalconWindow, local + "\\Model", out SN);
|
tbSN.Text = SN;
|
break;
|
default:
|
break;
|
}
|
MessageBox.Show("模板创建成功！", "Information", MessageBoxButtons.OK, MessageBoxIcon.Information);
|
}
|
catch (Exception ex)
|
{
|
MessageBox.Show(ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
|
}
|
}
|
}
|
|
#endregion
|
|
private void btnRCOK_Click(object sender, EventArgs e)
|
{
|
RowCount = Int32.Parse(tbRowCount.Text);
|
ColumnCount = Int32.Parse(tbColumnCount.Text);
|
dgvImageStatistics.RowCount = RowCount;
|
dgvImageStatistics.ColumnCount = ColumnCount;
|
dgvRobotStatistics.RowCount = RowCount;
|
dgvRobotStatistics.ColumnCount = ColumnCount;
|
btnDotCalibrate.Enabled = true;
|
btnTransform.Enabled = true;
|
}
|
|
private void btnDotCalibrate_Click(object sender, EventArgs e)
|
{
|
//执行点阵图像标定
|
performDotCalib = true;
|
}
|
|
private void btnSaveRobotCoordinate_Click(object sender, EventArgs e)
|
{
|
HTuple rows = new HTuple(), columns = new HTuple();
|
ClearDGV(dgvRobotStatistics);
|
SetValuesFromDGV(dgvRobotStatistics, out rows, out columns);
|
HOperatorSet.TupleConcat(RobotRows, rows, out RobotRows);
|
HOperatorSet.TupleConcat(RobotColumns, columns, out RobotColumns);
|
}
|
|
private void cbxPositionStart_SelectedIndexChanged(object sender, EventArgs e)
|
{
|
tmVideo.Enabled = false;
|
//switch (cbxPositionStart.SelectedIndex)
|
//{
|
// case 0:
|
Image.Dispose();
|
VisionDetect.GrabImage(AcqHandle, out Image);
|
VisionDetect.DisplayImage(Image, hWindowControl1.HalconWindow);
|
//位置初始化函数
|
vd.LoadLocation(Image, ref Row, ref Column, ref Angle);
|
// break;
|
//default:
|
// break;
|
//}
|
if ((Row.TupleLength() == 2) && (Column.TupleLength() == 2) && (Angle.TupleLength() == 2))
|
{
|
SetPosition();
|
MessageBox.Show("位置"+(cbxPositionStart.SelectedIndex+1).ToString()+"初始化成功！");
|
}
|
else MessageBox.Show("位置初始化失敗！");
|
}
|
private void SetPosition()
|
{
|
switch (cbxPositionStart.SelectedIndex)
|
{
|
case 0:
|
config.loadPosition11.x = Column[1].D;
|
config.loadPosition11.y = Row[1].D;
|
config.loadPosition11.angle = Angle[1].D;
|
config.loadPosition12.x = Column[0].D;
|
config.loadPosition12.y = Row[0].D;
|
config.loadPosition12.angle = Angle[0].D;
|
break;
|
case 1:
|
config.loadPosition21.x = Column[1].D;
|
config.loadPosition21.y = Row[1].D;
|
config.loadPosition21.angle = Angle[1].D;
|
config.loadPosition22.x = Column[0].D;
|
config.loadPosition22.y = Row[0].D;
|
config.loadPosition22.angle = Angle[0].D;
|
break;
|
case 2:
|
config.loadPosition31.x = Column[1].D;
|
config.loadPosition31.y = Row[1].D;
|
config.loadPosition31.angle = Angle[1].D;
|
config.loadPosition32.x = Column[0].D;
|
config.loadPosition32.y = Row[0].D;
|
config.loadPosition32.angle = Angle[0].D;
|
break;
|
case 3:
|
config.loadPosition41.x = Column[1].D;
|
config.loadPosition41.y = Row[1].D;
|
config.loadPosition41.angle = Angle[1].D;
|
config.loadPosition42.x = Column[0].D;
|
config.loadPosition42.y = Row[0].D;
|
config.loadPosition42.angle = Angle[0].D;
|
break;
|
case 4:
|
config.loadPosition51.x = Column[1].D;
|
config.loadPosition51.y = Row[1].D;
|
config.loadPosition51.angle = Angle[1].D;
|
config.loadPosition52.x = Column[0].D;
|
config.loadPosition52.y = Row[0].D;
|
config.loadPosition52.angle = Angle[0].D;
|
break;
|
case 5:
|
config.loadPosition61.x = Column[1].D;
|
config.loadPosition61.y = Row[1].D;
|
config.loadPosition61.angle = Angle[1].D;
|
config.loadPosition62.x = Column[0].D;
|
config.loadPosition62.y = Row[0].D;
|
config.loadPosition62.angle = Angle[0].D;
|
break;
|
case 6:
|
config.loadPosition71.x = Column[1].D;
|
config.loadPosition71.y = Row[1].D;
|
config.loadPosition71.angle = Angle[1].D;
|
config.loadPosition72.x = Column[0].D;
|
config.loadPosition72.y = Row[0].D;
|
config.loadPosition72.angle = Angle[0].D;
|
break;
|
case 7:
|
config.loadPosition81.x = Column[1].D;
|
config.loadPosition81.y = Row[1].D;
|
config.loadPosition81.angle = Angle[1].D;
|
config.loadPosition82.x = Column[0].D;
|
config.loadPosition82.y = Row[0].D;
|
config.loadPosition82.angle = Angle[0].D;
|
break;
|
case 8:
|
config.loadPosition91.x = Column[1].D;
|
config.loadPosition91.y = Row[1].D;
|
config.loadPosition91.angle = Angle[1].D;
|
config.loadPosition92.x = Column[0].D;
|
config.loadPosition92.y = Row[0].D;
|
config.loadPosition92.angle = Angle[0].D;
|
break;
|
case 9:
|
config.loadPosition101.x = Column[1].D;
|
config.loadPosition101.y = Row[1].D;
|
config.loadPosition101.angle = Angle[1].D;
|
config.loadPosition102.x = Column[0].D;
|
config.loadPosition102.y = Row[0].D;
|
config.loadPosition102.angle = Angle[0].D;
|
break;
|
default:
|
break;
|
}
|
}
|
}
|
}
|
