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using ChoiceTech.Halcon.Control;
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using HalconDotNet;
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using Rs.Camera;
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using Rs.Framework;
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using Rs.MotionPlat.Commom;
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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.IO;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using static System.Net.Mime.MediaTypeNames;
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namespace Rs.MotionPlat
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{
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public enum ERoiShape
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{
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Rectange,
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Circle,
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Any
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}
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public partial class CameraTemplate : UserControl
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{
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ProductModel pm = new ProductModel();
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HWindow winHandle = null;
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HObject hImage = null;
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HObject final_Region = new HObject();
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public CameraTemplate()
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{
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InitializeComponent();
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HikCamera.Instance.GrabOkEvent += Instance_GrabOkEvent;
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winHandle = hWindow_Final1.hWindowControl.HalconWindow;
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HOperatorSet.GenEmptyObj(out final_Region);
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}
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private void Instance_GrabOkEvent(int arg1, HObject arg2)
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{
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hImage = arg2;
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hWindow_Final1.HobjectToHimage(hImage);
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}
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HObject ho_image;
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private void btnLoadImage_Click(object sender, EventArgs e)
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{
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HOperatorSet.GenEmptyObj(out ho_image);
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OpenFileDialog fileOpen=new OpenFileDialog();
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DialogResult dr = fileOpen.ShowDialog();
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if(dr == DialogResult.OK)
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{
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string filename = fileOpen.FileName;
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HOperatorSet.ReadImage(out HObject img, filename);
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HOperatorSet.SetDraw(hWindow_Final1.hWindowControl.HalconWindow, "margin");
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// HOperatorSet.DispCross(hWindow_Final1.hWindowControl.HalconWindow, hWindow_Final1.Width / 2, hWindow_Final1.Height / 2, 300, 0);
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hWindow_Final1.HobjectToHimage(img);
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ho_image = img;
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pm.SourceImage = ho_image;
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HOperatorSet.GetImageSize(pm.SourceImage,out HTuple imgWidth,out HTuple imgHeight);
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HOperatorSet.GenCrossContourXld(out HObject cross, imgHeight/2, imgWidth/2, Math.Max(imgHeight,imgWidth), 0);
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hWindow_Final1.DispObj(cross);
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}
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}
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private void btnGrab_Click(object sender, EventArgs e)
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{
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bGrabContinue = false;
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HikCamera.Instance.Grab("MV-CA050-10GM (00C32922251)");
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}
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bool bGrabContinue = false;
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private void btnGrabContinue_Click(object sender, EventArgs e)
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{
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bGrabContinue = true;
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Task.Run(() => {
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while(bGrabContinue)
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{
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HikCamera.Instance.Grab("MV-CA050-10GM (00C32922251)");
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Thread.Sleep(200);
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}
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});
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}
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HObject imageReduced, partImage;
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private void btnCreateModel_Click(object sender, EventArgs e)
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{
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hWindow_Final1.Focus();
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hWindow_Final1.DrawModel = true;
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//winHandle.SetColor("green");
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//winHandle.SetDraw("margin");
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//HTuple row = new HTuple(), column = new HTuple(), radius = new HTuple();
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//HOperatorSet.DrawRegion(out final_Region, winHandle);
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//hWindow_Final1.DispObj(final_Region, "green");
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//HTuple row1 = new HTuple(), col1 = new HTuple(), row2 = new HTuple(), col2 = new HTuple();
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//HOperatorSet.DrawRectangle1(winHandle, out row1, out col1, out row2, out col2);
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// HObject rect = new HObject();
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//HOperatorSet.GenEmptyObj(out rect);
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//HOperatorSet.GenRectangle1(out rect, row1, col1, row2, col2);
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//hWindow_Final1.DispObj(rect, "green");
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//HOperatorSet.DispObj(rect, hWindow_Final1.hWindowControl.HalconWindow);
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try
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{
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winHandle.SetColor("green");
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winHandle.SetDraw("margin");
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HOperatorSet.GenEmptyObj(out imageReduced);
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HOperatorSet.GenEmptyObj(out partImage);
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HTuple row1 = new HTuple(), column1 = new HTuple(), row2 = new HTuple(), column2 = new HTuple();
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HOperatorSet.DrawRectangle1(winHandle, out row1, out column1, out row2, out column2);
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HOperatorSet.GenRectangle1(out final_Region, row1, column1, row2, column2);
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pm.RoiRegion = final_Region;
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HOperatorSet.CropPart(ho_image, out partImage, row1, column1, column2 - column1, row2 - row1);
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HOperatorSet.ReduceDomain(ho_image,final_Region,out imageReduced);
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pm.TemplateImage= partImage;
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HOperatorSet.InspectShapeModel(imageReduced, out HObject shapeModel, out HObject modelRegions, 1, 30);
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hWindow_Final1.DispObj(modelRegions);
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hWindow_Final2.HobjectToHimage(partImage);
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HOperatorSet.SetColor(winHandle, "green");
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//HOperatorSet.DispObj(pm.RoiRegion, winHandle);
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hWindow_Final1.DispObj(pm.RoiRegion);
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}
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catch (Exception)
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{
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}
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finally
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{
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hWindow_Final1.DrawModel = false;
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}
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}
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private void button4_Click(object sender, EventArgs e)
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{
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HObject removedRegion;
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HTuple hv_Button = null;
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HTuple hv_Row = null, hv_Column = null;
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HObject brushRegion, brushRegionAffine;
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HOperatorSet.GenCircle(out brushRegion, 50, 50, 20);
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HTuple brushRow, brushColumn, brushArea;
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//HOperatorSet.GenEmptyObj(out brushRegion);
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HOperatorSet.GenEmptyObj(out brushRegionAffine);
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HOperatorSet.GenEmptyObj(out removedRegion);
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hWindow_Final1.DrawModel = true;
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Task.Run(() => {
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hv_Button = 0;
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int a = 0;
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HOperatorSet.AreaCenter(brushRegion, out brushArea, out brushRow, out brushColumn);
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while(true)
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{
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try
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{
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HOperatorSet.GetMposition(winHandle, out hv_Row, out hv_Column, out hv_Button);
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}
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catch (Exception ex)
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{
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//MessageBox.Show(ex.Message);
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}
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if (removedRegion.IsInitialized())
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{
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try
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{
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//////HOperatorSet.DispObj(final_region, Frm_ShapeMatchTool.Instance.hWindow_Final1.HWindowHalconID);
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HObject image1, image2, resultImage;
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resultImage = new HObject();
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HObject iamgeR, iamgeG, iamgeB;
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//HOperatorSet.Decompose3(ho_image, out iamgeR, out iamgeG, out iamgeB);
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int c = removedRegion.CountObj();
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if(c>0)
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{
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HOperatorSet.PaintRegion(removedRegion, ho_image, out image1, 120, "fill");
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HOperatorSet.Compose3(image1, image1, ho_image, out resultImage);
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HOperatorSet.SetSystem("flush_graphic", "false");
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HOperatorSet.DispObj(resultImage, winHandle);
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}
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//hWindow_Final1.HobjectToHimage(resultImage);
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if (hv_Row >= 0 && hv_Column >= 0)
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{
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//当鼠标移动时，画出画笔
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//生成移动矩阵
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HOperatorSet.SetColor(winHandle, "gray");
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HOperatorSet.VectorAngleToRigid(brushRow, brushColumn, 0, hv_Row, hv_Column, 0, out HTuple homMoveMat2D);
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brushRegionAffine.Dispose();
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//移动
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HOperatorSet.AffineTransRegion(brushRegion, out brushRegionAffine, homMoveMat2D, "nearest_neighbor");
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HOperatorSet.SetSystem("flush_graphic", "true");
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HOperatorSet.DispObj(brushRegionAffine, winHandle);
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if (hv_Button == 1)
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{
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if(a==1)
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{
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HOperatorSet.Difference(removedRegion, brushRegionAffine, out removedRegion);
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}
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else
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{
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HOperatorSet.ConcatObj(removedRegion, brushRegionAffine,out removedRegion);
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}
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}
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}
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//HOperatorSet.SetPart(Frm_ShapeMatchTool.Instance.hWindow_Final1.HWindowHalconID, row1 - 20, col1 - 20, row2 + 20, col2 + 20);
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// HOperatorSet.DispObj(resultImage, Frm_ShapeMatchTool.Instance.hWindow_Final1.HWindowHalconID);
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//HOperatorSet.SetColor(Frm_ShapeMatchTool.Instance.hWindow_Final1.HWindowHalconID, "gray");
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//HOperatorSet.DispObj(final_region, Frm_ShapeMatchTool.Instance.hWindow_Final1.HWindowHalconID);
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}
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catch { }
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}
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}
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});
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}
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private void button5_Click(object sender, EventArgs e)
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{
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}
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private void trackBar2_ValueChanged(object sender, EventArgs e)
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{
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lblContrast.Text = tbarContrast.Value.ToString();
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HOperatorSet.ClearWindow(winHandle);
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HOperatorSet.ReduceDomain(pm.SourceImage, pm.FinalRegion, out HObject imageReduced);
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HOperatorSet.InspectShapeModel(imageReduced, out HObject modelImages, out HObject modelRegions, 1, tbarContrast.Value);
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hWindow_Final1.DispObj(pm.SourceImage);
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hWindow_Final1.DispObj(modelRegions, "green");
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}
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private void btnStudy_Click(object sender, EventArgs e)
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{
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if(pm.FinalRegion== null || pm.FinalRegion.CountObj()==0)
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{
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MessageBox.Show("请先绘制ROI区域");
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return;
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}
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HOperatorSet.ClearWindow(hWindow_Final2.hWindowControl.HalconWindow);
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HOperatorSet.ReduceDomain(pm.SourceImage, pm.FinalRegion, out HObject imageReduced);
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HOperatorSet.InspectShapeModel(imageReduced, out HObject modelImages, out HObject modelRegions, 1, 30);
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hWindow_Final1.DispObj(pm.SourceImage);
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hWindow_Final1.DispObj(modelRegions, "green");
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//HOperatorSet
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HOperatorSet.SmallestRectangle1(pm.FinalRegion,out HTuple row1,out HTuple column1,out HTuple row2,out HTuple column2);
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//HOperatorSet.SetPart(hWindow_Final2.hWindowControl.HalconWindow, pm.RoiRow1 - 20, pm.RoiColumn1 - 20, pm.RoiRow2 + 20, pm.RoiColumn2 + 20);
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HOperatorSet.SetPart(hWindow_Final2.hWindowControl.HalconWindow, row1 - 20, column1 - 20, row2 + 20, column2 + 20);
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HOperatorSet.DispObj(imageReduced, hWindow_Final2.hWindowControl.HalconWindow);
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//HOperatorSet.CropPart(ho_image, out partImage, row1, column1, column2 - column1, row2 - row1);
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}
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private void btnDrawRectangle(object sender, EventArgs e)
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{
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DrawRoi(ERoiShape.Rectange);
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}
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private void btnDrawCircle_Click(object sender, EventArgs e)
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{
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DrawRoi(ERoiShape.Circle);
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}
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bool bPaint = true;
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bool isPaint = false;
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private void btnPaint_Click(object sender, EventArgs e)
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{
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bPaint = true;
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PaintOrClear();
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}
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private void btnClear_Click(object sender, EventArgs e)
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{
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bPaint = false;
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PaintOrClear();
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}
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private void PaintOrClear()
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{
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if (isPaint)
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{
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return;
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}
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HObject removedRegion;
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HObject hoImage;
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HOperatorSet.GenEmptyObj(out removedRegion);
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HTuple hv_Button = null;
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HTuple hv_Row = null, hv_Column = null;
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HObject brushRegion, brushRegionAffine;
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HOperatorSet.GenEmptyObj(out brushRegionAffine);
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HOperatorSet.GenCircle(out brushRegion, 50, 50, 20);
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HTuple brushRow, brushColumn, brushArea;
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hWindow_Final1.DrawModel = true;
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if (pm.RemovedRegion != null && pm.RemovedRegion.CountObj() > 0)
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{
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removedRegion = pm.RemovedRegion;
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}
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Task.Run(() => {
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isPaint = true;
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hv_Button = 0;
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int a = 0;
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HOperatorSet.ReduceDomain(pm.SourceImage, pm.RoiRegion, out HObject imageReduced);
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HOperatorSet.InspectShapeModel(imageReduced, out HObject modelImages, out HObject modelRegions, 1, 30);
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HOperatorSet.SetColor(winHandle, "green");
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HOperatorSet.DispObj(modelRegions, winHandle);
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//hWindow_Final1.DispObj(modelRegions);
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HOperatorSet.AreaCenter(brushRegion, out brushArea, out brushRow, out brushColumn);
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while (true)
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{
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try
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{
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//HOperatorSet.GetMbutton(winHandle, out HTuple mrow, out HTuple mcol, out hv_Button);
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//获取鼠标位置信息
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HOperatorSet.GetMposition(winHandle, out hv_Row, out hv_Column, out hv_Button);
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if (hv_Button == 4)
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{
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break;
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}
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}
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catch (Exception ex)
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{
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//MessageBox.Show(ex.Message);
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}
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if (removedRegion.IsInitialized())
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{
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try
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{
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//////HOperatorSet.DispObj(final_region, Frm_ShapeMatchTool.Instance.hWindow_Final1.HWindowHalconID);
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HObject image1, image2, resultImage;
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resultImage = new HObject();
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HObject iamgeR, iamgeG, iamgeB;
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//HOperatorSet.Decompose3(ho_image, out iamgeR, out iamgeG, out iamgeB);
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int c = removedRegion.CountObj();
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if (c > 0)
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{
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HOperatorSet.PaintRegion(removedRegion, pm.SourceImage, out image1, 120, "fill");
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HOperatorSet.Compose3(image1, image1, pm.SourceImage, out resultImage);
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HOperatorSet.SetSystem("flush_graphic", "false");
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HOperatorSet.SetColor(winHandle, "green");
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HOperatorSet.DispObj(resultImage, winHandle);
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HOperatorSet.DispObj(modelRegions, winHandle);
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}
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//HOperatorSet.DispObj(modelRegions, winHandle);
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//hWindow_Final1.HobjectToHimage(pm.SourceImage);
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if (hv_Row >= 0 && hv_Column >= 0)
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{
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//当鼠标移动时，画出画笔
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//生成移动矩阵
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HOperatorSet.SetColor(winHandle, "gray");
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HOperatorSet.VectorAngleToRigid(brushRow, brushColumn, 0, hv_Row, hv_Column, 0, out HTuple homMoveMat2D);
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brushRegionAffine.Dispose();
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//移动
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HOperatorSet.AffineTransRegion(brushRegion, out brushRegionAffine, homMoveMat2D, "nearest_neighbor");
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HOperatorSet.SetSystem("flush_graphic", "true");
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HOperatorSet.DispObj(brushRegionAffine, winHandle);
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if (hv_Button == 1)
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{
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if(bPaint)
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{
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HOperatorSet.ConcatObj(removedRegion, brushRegionAffine, out removedRegion);
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}
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else
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{
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HOperatorSet.Difference(removedRegion, brushRegionAffine, out removedRegion);
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}
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pm.RemovedRegion = removedRegion;
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}
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}
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}
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catch { }
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}
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}
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HOperatorSet.ClearWindow(winHandle);
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//HOperatorSet.DispObj(pm.SourceImage,winHandle);
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HObject img, rltimg;
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HOperatorSet.PaintRegion(removedRegion, pm.SourceImage, out img, 120, "fill");
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HOperatorSet.Compose3(img, img, pm.SourceImage, out rltimg);
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hWindow_Final1.DispObj(rltimg);
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//hWindow_Final1.DispObj(pm.SourceImage);
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//HOperatorSet.ClearWindow(winHandle);
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HOperatorSet.ReduceDomain(pm.SourceImage, pm.RoiRegion, out imageReduced);
|
|
|
HOperatorSet.InspectShapeModel(imageReduced, out modelImages, out modelRegions, 1, 30);
|
|
|
//HOperatorSet.SetColor(winHandle, "green");
|
|
|
hWindow_Final1.DispObj(modelRegions, "green");
|
|
|
//HOperatorSet.DispObj(modelRegions, winHandle);
|
|
|
|
|
|
isPaint = false;
|
|
|
|
|
|
|
|
|
//hWindow_Final1.DispObj(modelRegions);
|
|
|
hWindow_Final1.DrawModel = false;
|
|
|
});
|
|
|
}
|
|
|
|
|
|
private void btnWholePaint_Click(object sender, EventArgs e)
|
|
|
{
|
|
|
if(pm.RoiRegion==null || pm.RoiRegion.CountObj()<=0)
|
|
|
{
|
|
|
Msg.ShowError("请选绘制ROI区域后再进行涂抹");
|
|
|
return;
|
|
|
}
|
|
|
pm.RemovedRegion = pm.RoiRegion;
|
|
|
//显示涂抹区域
|
|
|
HOperatorSet.ClearWindow(winHandle);
|
|
|
//把ROI区域画到原图上
|
|
|
HOperatorSet.PaintRegion(pm.RoiRegion,pm.SourceImage,out HObject imageResult,150,"fill");
|
|
|
HOperatorSet.Compose3(imageResult, imageResult, pm.SourceImage, out HObject multiChannelImage);
|
|
|
hWindow_Final1.DispObj(multiChannelImage);
|
|
|
}
|
|
|
|
|
|
private void btnSaveModel_Click(object sender, EventArgs e)
|
|
|
{
|
|
|
pm.SaveModel();
|
|
|
}
|
|
|
|
|
|
private void btnTestModel_Click(object sender, EventArgs e)
|
|
|
{
|
|
|
//先加载模板
|
|
|
dataGridView1.Rows.Clear();
|
|
|
HOperatorSet.ReadShapeModel("Recipe/Test/m.shm", out HTuple modelID);
|
|
|
HOperatorSet.GetShapeModelContours(out HObject modelContours, modelID, 1);
|
|
|
HOperatorSet.FindShapeModel(pm.SourceImage, modelID, AngleTool.Deg2Rad(-10), AngleTool.Deg2Rad(200), 0.1, 1, 0.5, "least_squares", 0, 0.9, out HTuple row, out HTuple column, out HTuple angle, out HTuple score);
|
|
|
if(score!=null&&score.Length>0)
|
|
|
{
|
|
|
HOperatorSet.VectorAngleToRigid(0, 0, 0, row, column, angle, out HTuple homMat2D);
|
|
|
HOperatorSet.AffineTransContourXld(modelContours, out HObject contoursAffineTrans, homMat2D);
|
|
|
hWindow_Final1.DispObj(contoursAffineTrans, "green");
|
|
|
int len = score.Length;
|
|
|
for (int i = 0; i < len; i++)
|
|
|
{
|
|
|
double rVal = row.DArr[i];
|
|
|
double cVal = column.DArr[i];
|
|
|
double angleVal = angle.DArr[i];
|
|
|
double scoreVal = score.DArr[i];
|
|
|
int rowIndex = dataGridView1.Rows.Add();
|
|
|
dataGridView1.Rows[rowIndex].Cells[0].Value = rVal.ToString("0.000");
|
|
|
dataGridView1.Rows[rowIndex].Cells[1].Value = cVal.ToString("0.000");
|
|
|
dataGridView1.Rows[rowIndex].Cells[2].Value = angleVal.ToString("0.000");
|
|
|
dataGridView1.Rows[rowIndex].Cells[3].Value = scoreVal.ToString("0.000");
|
|
|
HOperatorSet.GenCrossContourXld(out HObject cross, rVal, cVal, 100, angle);
|
|
|
hWindow_Final1.DispObj(cross, "black");
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
Msg.ShowError("未定位到产品");
|
|
|
}
|
|
|
}
|
|
|
|
|
|
private void btnDrawAny_Click(object sender, EventArgs e)
|
|
|
{
|
|
|
DrawRoi(ERoiShape.Any);
|
|
|
}
|
|
|
|
|
|
private void DrawRoi(ERoiShape roiShape)
|
|
|
{
|
|
|
if(pm.SourceImage== null || pm.SourceImage.CountObj()<=0)
|
|
|
{
|
|
|
Msg.ShowError("请先拍照或者选择照片");
|
|
|
return;
|
|
|
}
|
|
|
hWindow_Final1.Focus();
|
|
|
HalconTool.SetDisplayFont(winHandle, 50, "sans", new HTuple("true"), new HTuple("false"));
|
|
|
HalconTool.DispMessage(winHandle, "请在图像窗口中绘制ROI区域，点击右键结束", 20, 20, "red", "false");
|
|
|
HOperatorSet.SetDraw(winHandle, "margin");
|
|
|
HOperatorSet.SetColor(winHandle, "green");
|
|
|
hWindow_Final1.DrawModel = true;
|
|
|
HObject roiRegion;
|
|
|
HOperatorSet.GenEmptyObj(out roiRegion);
|
|
|
if(roiShape== ERoiShape.Rectange)
|
|
|
{
|
|
|
HOperatorSet.DrawRectangle1(winHandle, out HTuple row1, out HTuple column1, out HTuple row2, out HTuple column2);
|
|
|
HOperatorSet.GenRectangle1(out roiRegion, row1, column1, row2, column2);
|
|
|
}
|
|
|
else if(roiShape== ERoiShape.Circle)
|
|
|
{
|
|
|
HOperatorSet.DrawCircle(winHandle, out HTuple row, out HTuple column, out HTuple radius);
|
|
|
HOperatorSet.GenCircle(out roiRegion, row, column, radius);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
HOperatorSet.DrawRegion(out roiRegion, winHandle);
|
|
|
}
|
|
|
|
|
|
pm.RoiRegion = roiRegion;
|
|
|
//pm.RoiRow1 = row1; pm.RoiRow2 = row2;
|
|
|
//pm.RoiColumn1 = column1; pm.RoiColumn2 = column2;
|
|
|
hWindow_Final1.DispObj(pm.RoiRegion, "green");
|
|
|
hWindow_Final1.DrawModel = false;
|
|
|
}
|
|
|
}
|
|
|
}
|