3678 lines
167 KiB
C++
3678 lines
167 KiB
C++
#include <952Halcon3dSubAlgo.h>
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#if 0
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void Cal_Glue_Height(HObject ho_in_ImageH, HTuple hv_in_xResolution, HTuple hv_in_yResolution,
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HTuple hv_in_zResolution, HTuple* hv_out_Height1, HTuple* hv_out_Height2, HTuple* hv_out_Point,
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HTuple* hv_out_Flag, HTuple* hv_out_Ngtails)
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{
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// Local iconic variables
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HObject ho_ImageConverted, ho_YImageSurface;
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HObject ho_XImageSurface, ho_in_XImageScaled, ho_in_YImageScaled;
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HObject ho_in_ZImageScaled, ho_Regions, ho_Domain, ho_ProductRegion;
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HObject ho_ImageReduced, ho_RegionClosing, ho_RegionFillUp3;
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HObject ho_TempRegion, ho_RegionErosion3, ho_ZeroRegion;
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HObject ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3;
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HObject ho_in_ZeroRegion1, ho_out_GlueRegion, ho_in_ZeroRegion2;
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HObject ho_in_EdgeRegion, ho_out_EdgeRegion, ho_InspectionRegion;
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HObject ho_RegionErosion1, ho_RegionDilation2, ho_in_InspectionRegion3;
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HObject ho_in_InspectionRegion4, ho_in_ProductRegion, ho_in_outerEdge;
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HObject ho_in_innerEdge, ho_in_HYRegion;
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// Local control variables
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HTuple hv_Debug, hv_Type, hv_Width2, hv_Height2;
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HTuple hv_ObjectModel3D, hv_ParFitting, hv_ValFitting;
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HTuple hv_ObjectModelPlane, hv_PlaneParamValue, hv_Thread;
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HTuple hv_in_Direc1, hv_in_Height1, hv_in_PlaneParamValue1;
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HTuple hv_Thread1, hv_out_Flag1, hv_out_Ngtails1, hv_in_Direc2;
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HTuple hv_in_Height2, hv_in_PlaneParamValue2, hv_Thread2;
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HTuple hv_out_Flag2, hv_out_Ngtails2, hv_Area2, hv_Row2;
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HTuple hv_Column2, hv_Area3, hv_Row3, hv_Column3, hv_Area;
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HTuple hv_Row, hv_Column, hv_Area1, hv_Row1, hv_Column1;
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HTuple hv_in_PlaneParamValue3, hv_Thread3, hv_out_PaintRows1;
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HTuple hv_out_PaintColumns1, hv_out_Height3, hv_out_Flag3;
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HTuple hv_in_PlaneParamValue4, hv_Thread4, hv_out_PaintRows2;
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HTuple hv_out_PaintColumns2, hv_out_Height4, hv_out_Flag4;
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HTuple hv_Thread5, hv_out_Height, hv_out_Flag5, hv_Exception;
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// +++ Threading variables
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HDevThread* hcppthread_handle;
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HDevThreadContext hcppthread_context; // <-signals begin of procedure
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//**********************************************************************
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//Function Name: Cal_Glue_Height
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//Author:
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//Description: 基于基准面,计算点胶的高度(mm)
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//Input: in_ImageH, 深度图像(tif),
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// in_xResolution, X向精度(mm/pix)
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// in_yResolution, y向精度(mm/pix)
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// in_zResolution, z向精度(mm/pix)
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//output： out_Height, 点胶高度(mm), 一般情况下,胶的高度高于电池边缘面的区域, 才有高度输出.
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// out_Point: 胶的高点和基准面的高点坐标(y,x)
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// out_Flag, 算法执行的标志位; 1, 算法执行成功 2, 算法执行错误
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// out_Ngtails, 算法执行信息,
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//verion change log: 胡汉兵 2024-06-15 V1.1 Create new function.
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// 胡汉兵 2024-06-20 V1.2 软件端执行结果异常, 算法直接强行赋值为0.
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// 胡汉兵 2024-07-04 V1.3 现场输出电池的最高点位置,便于客户基于当前点位进行测量.
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// 胡汉兵 2024-07-09 V1.4 使用原始图像进行高度计算,
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// 胡汉兵 2024-07-16 V1.5 保护, 防止程序崩溃时, 无结果图输出.
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// 胡汉兵 2024-09-11 V1.6 代码二次优化,
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//**********************************************************************
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hv_Debug = 0;
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(*hv_out_Height1) = -99;
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(*hv_out_Height2) = -99;
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(*hv_out_Flag) = 2;
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(*hv_out_Ngtails) = "OK";
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(*hv_out_Point) = HTuple();
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try
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{
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if (HDevWindowStack::IsOpen())
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SetDraw(HDevWindowStack::GetActive(), "margin");
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GetImageType(ho_in_ImageH, &hv_Type);
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if (0 != (hv_Type != HTuple("real")))
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{
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ConvertImageType(ho_in_ImageH, &ho_ImageConverted, "real");
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}
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else
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{
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ho_ImageConverted = ho_in_ImageH;
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}
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GetImageSize(ho_ImageConverted, &hv_Width2, &hv_Height2);
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GenImageSurfaceFirstOrder(&ho_YImageSurface, "real", 1, 0, 0, 0, 0, hv_Width2,
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hv_Height2);
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GenImageSurfaceFirstOrder(&ho_XImageSurface, "real", 0, 1, 0, 0, 0, hv_Width2,
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hv_Height2);
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ScaleImage(ho_XImageSurface, &ho_in_XImageScaled, hv_in_xResolution, 0);
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ScaleImage(ho_YImageSurface, &ho_in_YImageScaled, hv_in_xResolution, 0);
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ScaleImage(ho_ImageConverted, &ho_in_ZImageScaled, hv_in_zResolution, 0);
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Threshold(ho_ImageConverted, &ho_Regions, 0, 0);
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GetDomain(ho_in_ImageH, &ho_Domain);
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Difference(ho_Domain, ho_Regions, &ho_ProductRegion);
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ReduceDomain(ho_in_ZImageScaled, ho_ProductRegion, &ho_ImageReduced);
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if (0 != hv_Debug)
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{
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//reduce_domain (in_XImageScaled, ProductRegion, ImageReduced4)
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//reduce_domain (in_YImageScaled, ProductRegion, ImageReduced5)
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//xyz_to_object_model_3d (ImageReduced4, ImageReduced5, ImageReduced, ObjectModel3D)
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//dev_get_window (WindowHandle)
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//visualize_object_model_3d (WindowHandle, [ObjectModel3D], [], [], ['lut','intensity','disp_pose'], ['hsi','coord_z', 'true'], ['展示拟合的平面'], '', '', Pose)
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}
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//******************************************************
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//step2: 获取基准面区域(新代码不使用这个区域的Region)
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ClosingCircle(ho_ProductRegion, &ho_RegionClosing, 15);
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FillUp(ho_RegionClosing, &ho_RegionFillUp3);
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ErosionRectangle1(ho_RegionFillUp3, &ho_TempRegion, 1, 220);
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//dev_display (ImageReduced)
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//dev_display (TempRegion)
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//区间进行内缩, 获取基准的端面.
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ErosionCircle(ho_TempRegion, &ho_RegionErosion3, 80);
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Difference(ho_TempRegion, ho_RegionErosion3, &ho_ZeroRegion);
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//dev_display (ImageReduced)
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//dev_display (ZeroRegion)
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//******************************************************
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//共用的
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//优化, 调整基准面
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ReduceDomain(ho_in_XImageScaled, ho_ZeroRegion, &ho_ImageReduced1);
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ReduceDomain(ho_in_YImageScaled, ho_ZeroRegion, &ho_ImageReduced2);
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ReduceDomain(ho_in_ZImageScaled, ho_ZeroRegion, &ho_ImageReduced3);
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XyzToObjectModel3d(ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3, &hv_ObjectModel3D);
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//拟合平面,
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hv_ParFitting.Clear();
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hv_ParFitting[0] = "primitive_type";
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hv_ParFitting[1] = "fitting_algorithm";
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hv_ParFitting[2] = "output_xyz_mapping";
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hv_ValFitting.Clear();
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hv_ValFitting[0] = "plane";
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hv_ValFitting[1] = "least_squares_huber";
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hv_ValFitting[2] = "false";
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//利用产品的边缘拟合平面,
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FitPrimitivesObjectModel3d(hv_ObjectModel3D, hv_ParFitting, hv_ValFitting, &hv_ObjectModelPlane);
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GetObjectModel3dParams(hv_ObjectModelPlane, "primitive_parameter", &hv_PlaneParamValue);
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if (0 != 0)
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{
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hv_Thread = HTuple();
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//线程一,
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hv_in_Direc1 = "Neg";
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hv_in_Height1 = 1.0;
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hv_in_PlaneParamValue1 = hv_PlaneParamValue;
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ho_in_ZeroRegion1 = ho_ZeroRegion;
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// Create a thread instance
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hcppthread_handle = new HDevThread(hcppthread_context,
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(void*)HDevExportCpp::_hcppthread_Get_OutGlueRegion, 7, 3);
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// Set thread procedure call arguments
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hcppthread_handle->SetInputIconicParamObject(0, ho_in_XImageScaled);
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hcppthread_handle->SetInputIconicParamObject(1, ho_in_YImageScaled);
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hcppthread_handle->SetInputIconicParamObject(2, ho_in_ZImageScaled);
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hcppthread_handle->SetInputIconicParamObject(3, ho_in_ZeroRegion1);
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hcppthread_handle->SetInputCtrlParamTuple(4, hv_in_Height1);
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hcppthread_handle->SetInputCtrlParamTuple(5, hv_in_Direc1);
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hcppthread_handle->SetInputCtrlParamTuple(6, hv_in_PlaneParamValue1);
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hcppthread_handle->BindOutputIconicParamObject(0, 0, &ho_out_GlueRegion);
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hcppthread_handle->BindOutputCtrlParamTuple(1, 0, &hv_out_Flag1);
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hcppthread_handle->BindOutputCtrlParamTuple(2, 0, &hv_out_Ngtails1);
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// Start proc line in thread
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hcppthread_handle->ParStart(&hv_Thread1);
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hv_Thread = hv_Thread.TupleConcat(hv_Thread1);
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//线程二,
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hv_in_Direc2 = "all";
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hv_in_Height2 = 0.15;
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hv_in_PlaneParamValue2 = hv_PlaneParamValue;
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ho_in_ZeroRegion2 = ho_ZeroRegion;
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// Create a thread instance
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hcppthread_handle = new HDevThread(hcppthread_context,
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(void*)HDevExportCpp::_hcppthread_Get_InGlueRegion, 7, 3);
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// Set thread procedure call arguments
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hcppthread_handle->SetInputIconicParamObject(0, ho_in_XImageScaled);
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hcppthread_handle->SetInputIconicParamObject(1, ho_in_YImageScaled);
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hcppthread_handle->SetInputIconicParamObject(2, ho_in_ZImageScaled);
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hcppthread_handle->SetInputIconicParamObject(3, ho_in_ZeroRegion2);
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hcppthread_handle->SetInputCtrlParamTuple(4, hv_in_Height2);
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hcppthread_handle->SetInputCtrlParamTuple(5, hv_in_PlaneParamValue2);
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hcppthread_handle->SetInputCtrlParamTuple(6, hv_in_Direc2);
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hcppthread_handle->BindOutputIconicParamObject(0, 0, &ho_in_EdgeRegion);
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hcppthread_handle->BindOutputCtrlParamTuple(1, 0, &hv_out_Flag2);
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hcppthread_handle->BindOutputCtrlParamTuple(2, 0, &hv_out_Ngtails2);
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// Start proc line in thread
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hcppthread_handle->ParStart(&hv_Thread2);
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hv_Thread = hv_Thread.TupleConcat(hv_Thread2);
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HDevThread::ParJoin(hv_Thread);
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}
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if (0 != 1)
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{
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//线程一,
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hv_in_Direc1 = "Neg";
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hv_in_Height1 = 1.0;
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hv_in_PlaneParamValue1 = hv_PlaneParamValue;
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ho_in_ZeroRegion1 = ho_ZeroRegion;
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Get_OutGlueRegion(ho_in_XImageScaled, ho_in_YImageScaled, ho_in_ZImageScaled,
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ho_in_ZeroRegion1, &ho_out_GlueRegion, hv_in_Height1, hv_in_Direc1, hv_in_PlaneParamValue1,
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&hv_out_Flag1, &hv_out_Ngtails1);
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//线程二,
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hv_in_Direc2 = "all";
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hv_in_Height2 = 0.15;
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hv_in_PlaneParamValue2 = hv_PlaneParamValue;
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ho_in_ZeroRegion2 = ho_ZeroRegion;
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Get_InGlueRegion(ho_in_XImageScaled, ho_in_YImageScaled, ho_in_ZImageScaled,
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ho_in_ZeroRegion2, &ho_in_EdgeRegion, hv_in_Height2, hv_in_PlaneParamValue2,
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hv_in_Direc2, &hv_out_Flag2, &hv_out_Ngtails2);
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}
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if (0 != (HTuple(hv_out_Flag1 == 1).TupleAnd(hv_out_Flag2 == 1)))
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{
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//dev_display (ImageReduced)
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//dev_display (out_GlueRegion)
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//dev_display (in_EdgeRegion)
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ho_out_EdgeRegion = ho_out_GlueRegion;
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}
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else
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{
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(*hv_out_Ngtails) = "点胶区域提取失败";
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return;
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}
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AreaCenter(ho_in_EdgeRegion, &hv_Area2, &hv_Row2, &hv_Column2);
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if (0 != (hv_Area2 < 10000))
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{
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ho_InspectionRegion = ho_out_GlueRegion;
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AreaCenter(ho_out_GlueRegion, &hv_Area3, &hv_Row3, &hv_Column3);
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GenCircle(&ho_in_EdgeRegion, hv_Row3, hv_Column3, 10);
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}
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else
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{
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//目前按照这个比例进行调整, 计算区域的高度.
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ErosionRectangle1(ho_in_EdgeRegion, &ho_RegionErosion1, 345, 40);
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//dev_display (ImageReduced)
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//dev_display (RegionErosion1)
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//dev_display (in_EdgeRegion)
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AreaCenter(ho_RegionErosion1, &hv_Area, &hv_Row, &hv_Column);
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if (0 != (hv_Area == 0))
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{
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AreaCenter(ho_in_EdgeRegion, &hv_Area1, &hv_Row1, &hv_Column1);
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GenCircle(&ho_RegionErosion1, hv_Row1, hv_Column1, 3);
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}
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DilationRectangle1(ho_out_GlueRegion, &ho_RegionDilation2, 160, 20);
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//dev_display (ImageReduced)
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//dev_display (RegionDilation2)
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Difference(ho_RegionDilation2, ho_RegionErosion1, &ho_InspectionRegion);
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}
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//******************************************************
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if (HDevWindowStack::IsOpen())
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DispObj(ho_ImageReduced, HDevWindowStack::GetActive());
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if (HDevWindowStack::IsOpen())
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DispObj(ho_InspectionRegion, HDevWindowStack::GetActive());
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//__________________________________________________________________________
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if (0 != 0)
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{
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hv_Thread = HTuple();
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//线程三
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ho_in_InspectionRegion3 = ho_InspectionRegion;
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hv_in_PlaneParamValue3 = hv_PlaneParamValue;
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// Create a thread instance
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hcppthread_handle = new HDevThread(hcppthread_context,
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(void*)HDevExportCpp::_hcppthread_Cal_Height1, 5, 4);
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// Set thread procedure call arguments
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hcppthread_handle->SetInputIconicParamObject(0, ho_in_XImageScaled);
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hcppthread_handle->SetInputIconicParamObject(1, ho_in_YImageScaled);
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hcppthread_handle->SetInputIconicParamObject(2, ho_in_ZImageScaled);
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hcppthread_handle->SetInputIconicParamObject(3, ho_in_InspectionRegion3);
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hcppthread_handle->SetInputCtrlParamTuple(4, hv_in_PlaneParamValue3);
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hcppthread_handle->BindOutputCtrlParamTuple(0, 0, &hv_out_PaintRows1);
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hcppthread_handle->BindOutputCtrlParamTuple(1, 0, &hv_out_PaintColumns1);
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hcppthread_handle->BindOutputCtrlParamTuple(2, 0, &hv_out_Height3);
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hcppthread_handle->BindOutputCtrlParamTuple(3, 0, &hv_out_Flag3);
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// Start proc line in thread
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hcppthread_handle->ParStart(&hv_Thread3);
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hv_Thread = hv_Thread.TupleConcat(hv_Thread3);
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//线程四,
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//in_InspectionRegion4 := out_ROI1
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ho_in_InspectionRegion4 = ho_ProductRegion;
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hv_in_PlaneParamValue4 = hv_PlaneParamValue;
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ho_in_ProductRegion = ho_ProductRegion;
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// Create a thread instance
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hcppthread_handle = new HDevThread(hcppthread_context,
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(void*)HDevExportCpp::_hcppthread_Cal_Height2, 6, 4);
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// Set thread procedure call arguments
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hcppthread_handle->SetInputIconicParamObject(0, ho_in_XImageScaled);
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hcppthread_handle->SetInputIconicParamObject(1, ho_in_YImageScaled);
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hcppthread_handle->SetInputIconicParamObject(2, ho_in_ZImageScaled);
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hcppthread_handle->SetInputIconicParamObject(3, ho_in_InspectionRegion4);
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hcppthread_handle->SetInputIconicParamObject(4, ho_in_ProductRegion);
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hcppthread_handle->SetInputCtrlParamTuple(5, hv_in_PlaneParamValue4);
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hcppthread_handle->BindOutputCtrlParamTuple(0, 0, &hv_out_PaintRows2);
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hcppthread_handle->BindOutputCtrlParamTuple(1, 0, &hv_out_PaintColumns2);
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hcppthread_handle->BindOutputCtrlParamTuple(2, 0, &hv_out_Height4);
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hcppthread_handle->BindOutputCtrlParamTuple(3, 0, &hv_out_Flag4);
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// Start proc line in thread
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hcppthread_handle->ParStart(&hv_Thread4);
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ho_in_outerEdge = ho_out_GlueRegion;
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ho_in_innerEdge = ho_in_EdgeRegion;
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ho_in_HYRegion = ho_RegionErosion1;
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// Create a thread instance
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hcppthread_handle = new HDevThread(hcppthread_context,
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(void*)HDevExportCpp::_hcppthread_Cal_Height3, 6, 2);
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// Set thread procedure call arguments
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hcppthread_handle->SetInputIconicParamObject(0, ho_in_XImageScaled);
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hcppthread_handle->SetInputIconicParamObject(1, ho_in_YImageScaled);
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hcppthread_handle->SetInputIconicParamObject(2, ho_in_ZImageScaled);
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hcppthread_handle->SetInputIconicParamObject(3, ho_in_innerEdge);
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hcppthread_handle->SetInputIconicParamObject(4, ho_in_outerEdge);
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hcppthread_handle->SetInputIconicParamObject(5, ho_in_HYRegion);
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hcppthread_handle->BindOutputCtrlParamTuple(0, 0, &hv_out_Height);
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hcppthread_handle->BindOutputCtrlParamTuple(1, 0, &hv_out_Flag5);
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// Start proc line in thread
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hcppthread_handle->ParStart(&hv_Thread5);
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hv_Thread = (hv_Thread.TupleConcat(hv_Thread4)).TupleConcat(hv_Thread5);
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HDevThread::ParJoin(hv_Thread);
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}
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if (0 != 1)
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{
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//计算点胶高于基准面的高点
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ho_in_InspectionRegion3 = ho_InspectionRegion;
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hv_in_PlaneParamValue3 = hv_PlaneParamValue;
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Cal_Height1(ho_in_XImageScaled, ho_in_YImageScaled, ho_in_ZImageScaled, ho_in_InspectionRegion3,
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hv_in_PlaneParamValue3, &hv_out_PaintRows1, &hv_out_PaintColumns1, &hv_out_Height3,
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&hv_out_Flag3);
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//计算基准面的高点,
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ho_in_InspectionRegion4 = ho_ProductRegion;
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hv_in_PlaneParamValue4 = hv_PlaneParamValue;
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ho_in_ProductRegion = ho_ProductRegion;
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Cal_Height2(ho_in_XImageScaled, ho_in_YImageScaled, ho_in_ZImageScaled, ho_in_InspectionRegion4,
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ho_in_ProductRegion, hv_in_PlaneParamValue4, &hv_out_PaintRows2, &hv_out_PaintColumns2,
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&hv_out_Height4, &hv_out_Flag4);
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|
||
ho_in_outerEdge = ho_out_GlueRegion;
|
||
ho_in_innerEdge = ho_in_EdgeRegion;
|
||
ho_in_HYRegion = ho_RegionErosion1;
|
||
Cal_Height3(ho_in_XImageScaled, ho_in_YImageScaled, ho_in_ZImageScaled, ho_in_innerEdge,
|
||
ho_in_outerEdge, ho_in_HYRegion, &hv_out_Height, &hv_out_Flag5);
|
||
|
||
}
|
||
if (0 != (HTuple(HTuple(hv_out_Flag3 == 1).TupleAnd(hv_out_Flag4 == 1)).TupleAnd(hv_out_Flag5 == 1)))
|
||
{
|
||
(*hv_out_Height1) = hv_out_Height3 - hv_out_Height4;
|
||
(*hv_out_Height2) = hv_out_Height;
|
||
(*hv_out_Point).Clear();
|
||
(*hv_out_Point).Append(hv_out_PaintRows1);
|
||
(*hv_out_Point).Append(hv_out_PaintColumns1);
|
||
(*hv_out_Point).Append(hv_out_PaintRows2);
|
||
(*hv_out_Point).Append(hv_out_PaintColumns2);
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
if (0 != 1)
|
||
{
|
||
//高点和低点的在该处进行打印.
|
||
//gen_cross_contour_xld (Cross1, out_PaintRows1*zoomFactor, out_PaintColumns1, 40, rad(45))
|
||
//gen_cross_contour_xld (Cross2, out_PaintRows2*zoomFactor, out_PaintColumns2, 40, rad(45))
|
||
//get_contour_xld (Cross1, Row4, Col4)
|
||
//get_contour_xld (Cross2, Row5, Col5)
|
||
//gen_region_polygon (Region1, Row4, Col4)
|
||
//gen_region_polygon (Region2, Row5, Col5)
|
||
//dilation_circle (Region1, RegionDilation1, 1)
|
||
//dilation_circle (Region2, RegionDilation2, 1)
|
||
//union2 (RegionDilation1, RegionDilation2, RegionUnion)
|
||
//overpaint_region (out_DisplayImage, RegionUnion, [0,0,255], 'fill')
|
||
}
|
||
|
||
//__________________________________________________________________________
|
||
//***********************************************************************
|
||
|
||
//__________________________________________________________________________________
|
||
//基于边缘的扣边区域, 获取点胶的高度;
|
||
//dev_display (ImageReduced)
|
||
//dev_display (ProductRegion)
|
||
//erosion_circle (ProductRegion, RegionErosion2, 10)
|
||
//erosion_circle (RegionErosion2, RegionErosion4, 25)
|
||
//difference (RegionErosion2, RegionErosion4, RegionDifference)
|
||
//dev_display (ImageReduced)
|
||
//dev_display (RegionDifference)
|
||
|
||
//erosion_rectangle1 (ProductRegion, RegionErosion5, 180, 1)
|
||
//dilation_rectangle1 (RegionErosion5, RegionDilation, 1, 100)
|
||
//intersection (RegionDifference, RegionDilation, BaseRegion)
|
||
//dev_display (ImageReduced)
|
||
//dev_display (BaseRegion)
|
||
|
||
//reduce_domain (in_XImageScaled, BaseRegion, ImageReduced4)
|
||
//reduce_domain (in_YImageScaled, BaseRegion, ImageReduced5)
|
||
//reduce_domain (in_ZImageScaled, BaseRegion, ImageReduced6)
|
||
//xyz_to_object_model_3d (ImageReduced4, ImageReduced5, ImageReduced6, ObjectModel3D)
|
||
//拟合平面,
|
||
//ParFitting := ['primitive_type', 'fitting_algorithm', 'output_xyz_mapping']
|
||
//ValFitting := ['plane','least_squares_huber', 'false']
|
||
//利用产品的边缘拟合平面,
|
||
//fit_primitives_object_model_3d (ObjectModel3D, ParFitting, ValFitting, ObjectModelPlane)
|
||
//get_object_model_3d_params (ObjectModelPlane, 'primitive_parameter', PlaneParamValue)
|
||
|
||
//A := PlaneParamValue[0]
|
||
//B := PlaneParamValue[1]
|
||
//C := PlaneParamValue[2]
|
||
//D := PlaneParamValue[3]
|
||
//get_region_points (InspectionRegion, Rows, Columns)
|
||
//get_grayval (in_XImageScaled, Rows, Columns, X)
|
||
//get_grayval (in_YImageScaled, Rows, Columns, Y)
|
||
//get_grayval (in_ZImageScaled, Rows, Columns, Z)
|
||
//Dist := A* X + B* Y + C * Z - D
|
||
//if (C < 0)
|
||
//Dist := -Dist
|
||
//endif
|
||
//tuple_sort (Dist, Sorted)
|
||
//******************************3***************************
|
||
//算法寻找高点, 并寻找最高点坐标
|
||
//tuple_greater_elem (Dist, 0, PosGreater)
|
||
//寻找大于0的点坐标,
|
||
//tuple_find (PosGreater, 1, PosIndices)
|
||
//if (|PosIndices|<300 or PosIndices=-1)
|
||
//tuple_less_elem (Dist, 0, NegLess)
|
||
//tuple_find (NegLess, 1, NegIndices)
|
||
//tuple_select (Dist, NegIndices, Selected2)
|
||
//该处需要对点集进行排序,
|
||
//tuple_sort (Selected2, Sorted1)
|
||
//end1 := int(|Sorted1|*0.95)
|
||
//tuple_select (Sorted1, end1, Selected3)
|
||
//tuple_find (Dist, Selected3, Indices)
|
||
//tuple_select (Rows, Indices, out_PaintRows)
|
||
//tuple_select (Columns, Indices, out_PaintColumns)
|
||
//out_Height1 := Selected3
|
||
//elseif (|PosIndices|>300)
|
||
//tuple_greater_elem (Dist, 0, PosGreater)
|
||
//tuple_find (PosGreater, 1, PosIndices)
|
||
//tuple_select (Dist, PosIndices, Selected3)
|
||
//tuple_sort (Selected3, Sorted2)
|
||
//end2 := int(|Sorted2|*0.95)
|
||
//tuple_select (Sorted2, end2, Selected4)
|
||
//tuple_find (Dist, Selected4, Indices)
|
||
//tuple_select (Rows, Indices, out_PaintRows)
|
||
//tuple_select (Columns, Indices, out_PaintColumns)
|
||
//out_Height1 := Selected4
|
||
//endif
|
||
//打印方式,
|
||
//if (1)
|
||
//高点和低点的在该处进行打印.
|
||
//gen_cross_contour_xld (Cross1, out_PaintRows*zoomFactor, out_PaintColumns, 40, rad(45))
|
||
//if (0)
|
||
//gen_cross_contour_xld (Cross11, out_PaintRows, out_PaintColumns, 40, rad(45))
|
||
//dev_display (ImageReduced)
|
||
//dev_display (Cross11)
|
||
//endif
|
||
//get_contour_xld (Cross1, Row4, Col4)
|
||
//gen_region_polygon (Region1, Row4, Col4)
|
||
//dilation_circle (Region1, RegionDilation1, 1)
|
||
//overpaint_region (out_DisplayImage, RegionDilation1, [0,0,255], 'fill')
|
||
//boundary (BaseRegion, RegionBorder2, 'inner')
|
||
//zoom_region (RegionBorder2, ZoomBaseRegion, 1, zoomFactor)
|
||
//overpaint_region (out_DisplayImage, ZoomBaseRegion, [255,255,0], 'fill')
|
||
//endif
|
||
//__________________________________________________________________________________
|
||
|
||
//difference (out_EdgeRegion, in_EdgeRegion, GlueRegion)
|
||
//boundary (GlueRegion, RegionBorder, 'inner')
|
||
//展示用的结果图,
|
||
//zoom_region (RegionBorder, ZoomGlueRegion, 1, zoomFactor)
|
||
//dilation_circle (ZoomGlueRegion, RegionDilation5, 1)
|
||
//overpaint_region (out_DisplayImage, RegionDilation5, [0,255,0], 'fill')
|
||
//boundary (InspectionRegion, RegionBorder1, 'inner')
|
||
//zoom_region (RegionBorder1, ZoomGlueRegion, 1, zoomFactor)
|
||
//overpaint_region (out_DisplayImage, ZoomGlueRegion, [255,0,0], 'fill')
|
||
|
||
//stop ()
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
//zoom_image_factor (in_ZImageScaled, ImageZoomed, 1, zoomFactor, 'constant')
|
||
//scale_image_max (ImageZoomed, ImageScaleMax1)
|
||
//copy_image (ImageScaleMax1, Image4)
|
||
//copy_image (ImageScaleMax1, Image5)
|
||
//copy_image (ImageScaleMax1, Image6)
|
||
//compose3 (Image4, Image5, Image6, out_DisplayImage)
|
||
(*hv_out_Flag) = 2;
|
||
(*hv_out_Ngtails) = "算法执行错误";
|
||
}
|
||
|
||
return;
|
||
}
|
||
|
||
void Cal_Height1(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_InspectionRegion, HTuple hv_in_PlaneParamValue, HTuple* hv_out_PaintRows,
|
||
HTuple* hv_out_PaintColumns, HTuple* hv_out_Height, HTuple* hv_out_Flag)
|
||
{
|
||
|
||
// Local iconic variables
|
||
|
||
// Local control variables
|
||
HTuple hv_out_Ngtails, hv_A, hv_B, hv_C, hv_D;
|
||
HTuple hv_Rows, hv_Columns, hv_X, hv_Y, hv_Z, hv_Dist;
|
||
HTuple hv_Sorted, hv_PosGreater, hv_PosIndices, hv_NegLess;
|
||
HTuple hv_NegIndices, hv_Selected2, hv_Sorted1, hv_end1;
|
||
HTuple hv_Selected3, hv_Indices, hv_Sorted2, hv_end2, hv_Selected4;
|
||
HTuple hv_Exception;
|
||
|
||
|
||
|
||
|
||
|
||
|
||
(*hv_out_Height) = -99;
|
||
(*hv_out_Flag) = 0;
|
||
hv_out_Ngtails = "ok";
|
||
try
|
||
{
|
||
hv_A = ((const HTuple&)hv_in_PlaneParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_in_PlaneParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_in_PlaneParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_in_PlaneParamValue)[3];
|
||
GetRegionPoints(ho_in_InspectionRegion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_in_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_in_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_in_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = -hv_Dist;
|
||
}
|
||
TupleSort(hv_Dist, &hv_Sorted);
|
||
//******************************3***************************
|
||
//算法寻找高点, 并寻找最高点坐标
|
||
TupleGreaterElem(hv_Dist, 0, &hv_PosGreater);
|
||
//寻找大于0的点坐标,
|
||
TupleFind(hv_PosGreater, 1, &hv_PosIndices);
|
||
if (0 != (HTuple((hv_PosIndices.TupleLength()) < 100).TupleOr(hv_PosIndices == -1)))
|
||
{
|
||
TupleLessElem(hv_Dist, 0, &hv_NegLess);
|
||
TupleFind(hv_NegLess, 1, &hv_NegIndices);
|
||
TupleSelect(hv_Dist, hv_NegIndices, &hv_Selected2);
|
||
//该处需要对点集进行排序,
|
||
TupleSort(hv_Selected2, &hv_Sorted1);
|
||
hv_end1 = HTuple((hv_Sorted1.TupleLength()) * 0.95).TupleInt();
|
||
TupleSelect(hv_Sorted1, hv_end1, &hv_Selected3);
|
||
TupleFind(hv_Dist, hv_Selected3, &hv_Indices);
|
||
TupleSelect(hv_Rows, hv_Indices, &(*hv_out_PaintRows));
|
||
TupleSelect(hv_Columns, hv_Indices, &(*hv_out_PaintColumns));
|
||
(*hv_out_Height) = hv_Selected3;
|
||
}
|
||
else if (0 != ((hv_PosIndices.TupleLength()) > 100))
|
||
{
|
||
TupleGreaterElem(hv_Dist, 0, &hv_PosGreater);
|
||
TupleFind(hv_PosGreater, 1, &hv_PosIndices);
|
||
TupleSelect(hv_Dist, hv_PosIndices, &hv_Selected3);
|
||
//该处需要对点集进行排序,
|
||
TupleSort(hv_Selected3, &hv_Sorted2);
|
||
hv_end2 = HTuple((hv_Sorted2.TupleLength()) * 0.99).TupleInt();
|
||
TupleSelect(hv_Sorted2, hv_end2, &hv_Selected4);
|
||
TupleFind(hv_Dist, hv_Selected4, &hv_Indices);
|
||
TupleSelect(hv_Rows, hv_Indices, &(*hv_out_PaintRows));
|
||
TupleSelect(hv_Columns, hv_Indices, &(*hv_out_PaintColumns));
|
||
(*hv_out_Height) = hv_Selected4;
|
||
}
|
||
if (0 != ((*hv_out_Height) != -99))
|
||
{
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
hv_out_Ngtails = "算法错误";
|
||
}
|
||
return;
|
||
}
|
||
|
||
void Cal_Height2(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_InspectionRegion, HObject ho_in_ProductRegion, HTuple hv_in_PlaneParamValue,
|
||
HTuple* hv_out_PaintRows, HTuple* hv_out_PaintColumns, HTuple* hv_out_Height,
|
||
HTuple* hv_out_Flag)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_RegionErosion, ho_RegionDifference;
|
||
HObject ho_RegionTrans, ho_RegionErosion1, ho_InspectionRegion;
|
||
|
||
// Local control variables
|
||
HTuple hv_out_Ngtails, hv_A, hv_B, hv_C, hv_D;
|
||
HTuple hv_Rows, hv_Columns, hv_X, hv_Y, hv_Z, hv_Dist;
|
||
HTuple hv_Sorted, hv_PosGreater, hv_PosIndices, hv_NegLess;
|
||
HTuple hv_NegIndices, hv_Selected2, hv_Sorted1, hv_end1;
|
||
HTuple hv_Selected3, hv_Indices, hv_Sorted2, hv_end2, hv_Selected4;
|
||
HTuple hv_Exception;
|
||
|
||
|
||
|
||
|
||
|
||
|
||
(*hv_out_Height) = -99;
|
||
(*hv_out_Flag) = 0;
|
||
hv_out_Ngtails = "ok";
|
||
try
|
||
{
|
||
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
|
||
//fill_up (in_InspectionRegion, RegionFillUp)
|
||
//opening_circle (RegionFillUp, RegionOpening, 10.5)
|
||
//dev_display (in_ZImageScaled)
|
||
//dev_display (RegionOpening)
|
||
//connection (RegionOpening, ConnectedRegions)
|
||
//select_shape_std (ConnectedRegions, SelectedRegions, 'max_area', 70)
|
||
//dilation_circle (SelectedRegions, RegionDilation, 35)
|
||
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
|
||
ErosionRectangle1(ho_in_InspectionRegion, &ho_RegionErosion, 10, 70);
|
||
Difference(ho_in_InspectionRegion, ho_RegionErosion, &ho_RegionDifference);
|
||
ShapeTrans(ho_RegionDifference, &ho_RegionTrans, "rectangle1");
|
||
ErosionRectangle1(ho_RegionTrans, &ho_RegionErosion1, 350, 1);
|
||
Intersection(ho_RegionDifference, ho_RegionErosion1, &ho_InspectionRegion);
|
||
|
||
//dev_display (in_ZImageScaled)
|
||
//dev_display (RegionErosion1)
|
||
//difference (in_ProductRegion, RegionDilation, InspectionRegion)
|
||
//dev_display (in_ZImageScaled)
|
||
//dev_display (InspectionRegion)
|
||
|
||
hv_A = ((const HTuple&)hv_in_PlaneParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_in_PlaneParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_in_PlaneParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_in_PlaneParamValue)[3];
|
||
GetRegionPoints(ho_InspectionRegion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_in_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_in_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_in_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = -hv_Dist;
|
||
}
|
||
TupleSort(hv_Dist, &hv_Sorted);
|
||
//******************************3***************************
|
||
//算法寻找高点, 并寻找最高点坐标
|
||
TupleGreaterElem(hv_Dist, 0, &hv_PosGreater);
|
||
//寻找大于0的点坐标,
|
||
TupleFind(hv_PosGreater, 1, &hv_PosIndices);
|
||
if (0 != (HTuple((hv_PosIndices.TupleLength()) < 300).TupleOr(hv_PosIndices == -1)))
|
||
{
|
||
TupleLessElem(hv_Dist, 0, &hv_NegLess);
|
||
TupleFind(hv_NegLess, 1, &hv_NegIndices);
|
||
TupleSelect(hv_Dist, hv_NegIndices, &hv_Selected2);
|
||
//该处需要对点集进行排序,
|
||
TupleSort(hv_Selected2, &hv_Sorted1);
|
||
hv_end1 = HTuple((hv_Sorted1.TupleLength()) * 0.95).TupleInt();
|
||
TupleSelect(hv_Sorted1, hv_end1, &hv_Selected3);
|
||
TupleFind(hv_Dist, hv_Selected3, &hv_Indices);
|
||
TupleSelect(hv_Rows, hv_Indices, &(*hv_out_PaintRows));
|
||
TupleSelect(hv_Columns, hv_Indices, &(*hv_out_PaintColumns));
|
||
(*hv_out_Height) = hv_Selected3;
|
||
}
|
||
else if (0 != ((hv_PosIndices.TupleLength()) > 300))
|
||
{
|
||
TupleGreaterElem(hv_Dist, 0, &hv_PosGreater);
|
||
TupleFind(hv_PosGreater, 1, &hv_PosIndices);
|
||
TupleSelect(hv_Dist, hv_PosIndices, &hv_Selected3);
|
||
TupleSort(hv_Selected3, &hv_Sorted2);
|
||
hv_end2 = HTuple((hv_Sorted2.TupleLength()) * 0.95).TupleInt();
|
||
TupleSelect(hv_Sorted2, hv_end2, &hv_Selected4);
|
||
TupleFind(hv_Dist, hv_Selected4, &hv_Indices);
|
||
TupleSelect(hv_Rows, hv_Indices, &(*hv_out_PaintRows));
|
||
TupleSelect(hv_Columns, hv_Indices, &(*hv_out_PaintColumns));
|
||
(*hv_out_Height) = hv_Selected4;
|
||
}
|
||
if (0 != ((*hv_out_Height) != -99))
|
||
{
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
hv_out_Ngtails = "算法错误";
|
||
}
|
||
return;
|
||
}
|
||
|
||
void Cal_Height3(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_innerEdge, HObject ho_in_outerEdge, HObject ho_in_HYRegion, HTuple* hv_out_Height,
|
||
HTuple* hv_out_Flag)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_RegionDifference, ho_GlueRegion, ho_RegionErosion;
|
||
HObject ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3;
|
||
|
||
// Local control variables
|
||
HTuple hv_out_Ngtails, hv_ObjectModel3D, hv_ParFitting;
|
||
HTuple hv_ValFitting, hv_ObjectModelPlane, hv_PlaneParamValue;
|
||
HTuple hv_A, hv_B, hv_C, hv_D, hv_Rows, hv_Columns, hv_X;
|
||
HTuple hv_Y, hv_Z, hv_Dist, hv_Sorted, hv_start1, hv_end1;
|
||
HTuple hv_Selected, hv_Max, hv_Exception;
|
||
|
||
|
||
(*hv_out_Height) = -99;
|
||
(*hv_out_Flag) = 0;
|
||
hv_out_Ngtails = "ok";
|
||
try
|
||
{
|
||
Difference(ho_in_innerEdge, ho_in_HYRegion, &ho_RegionDifference);
|
||
Difference(ho_in_outerEdge, ho_in_innerEdge, &ho_GlueRegion);
|
||
ErosionCircle(ho_RegionDifference, &ho_RegionErosion, 10.5);
|
||
ReduceDomain(ho_in_XImageScaled, ho_RegionErosion, &ho_ImageReduced1);
|
||
ReduceDomain(ho_in_YImageScaled, ho_RegionErosion, &ho_ImageReduced2);
|
||
ReduceDomain(ho_in_ZImageScaled, ho_RegionErosion, &ho_ImageReduced3);
|
||
XyzToObjectModel3d(ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3, &hv_ObjectModel3D);
|
||
//拟合平面,
|
||
hv_ParFitting.Clear();
|
||
hv_ParFitting[0] = "primitive_type";
|
||
hv_ParFitting[1] = "fitting_algorithm";
|
||
hv_ParFitting[2] = "output_xyz_mapping";
|
||
hv_ValFitting.Clear();
|
||
hv_ValFitting[0] = "plane";
|
||
hv_ValFitting[1] = "least_squares_huber";
|
||
hv_ValFitting[2] = "false";
|
||
//利用产品的边缘拟合平面,
|
||
FitPrimitivesObjectModel3d(hv_ObjectModel3D, hv_ParFitting, hv_ValFitting, &hv_ObjectModelPlane);
|
||
GetObjectModel3dParams(hv_ObjectModelPlane, "primitive_parameter", &hv_PlaneParamValue);
|
||
hv_A = ((const HTuple&)hv_PlaneParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_PlaneParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_PlaneParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_PlaneParamValue)[3];
|
||
GetRegionPoints(ho_GlueRegion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_in_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_in_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_in_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = -hv_Dist;
|
||
}
|
||
TupleSort(hv_Dist, &hv_Sorted);
|
||
hv_start1 = HTuple((hv_Sorted.TupleLength()) * 0.02).TupleInt();
|
||
hv_end1 = HTuple((hv_Sorted.TupleLength()) * 0.98).TupleInt();
|
||
TupleSelect(hv_Sorted, HTuple::TupleGenSequence(hv_start1, hv_end1, 1), &hv_Selected);
|
||
TupleMax(hv_Selected, &hv_Max);
|
||
(*hv_out_Height) = hv_Max;
|
||
if (0 != ((*hv_out_Height) != -99))
|
||
{
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
hv_out_Ngtails = "算法错误";
|
||
}
|
||
|
||
return;
|
||
}
|
||
|
||
void Get_InGlueRegion(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_ZeroRegion, HObject* ho_in_EdgeRegion, HTuple hv_in_Height, HTuple hv_in_PlaneParamValue,
|
||
HTuple hv_in_Direc, HTuple* hv_out_Flag, HTuple* hv_out_Ngtails)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_RegionFillUp, ho_Tempregion, ho_Region2;
|
||
HObject ho_RegionOpening, ho_ConnectedRegions3, ho_Regions;
|
||
HObject ho_Out_ROI, ho_ConnectedRegions4, ho_SelectedRegions3;
|
||
HObject ho_closingRegion;
|
||
|
||
// Local control variables
|
||
HTuple hv_A, hv_B, hv_C, hv_D, hv_Rows, hv_Columns;
|
||
HTuple hv_X, hv_Y, hv_Z, hv_Dist, hv_Com_Tuple, hv_Prod_X;
|
||
HTuple hv_Prod_Y, hv_HeightOut, hv_Com_Tuple2, hv_Com_Tuple1;
|
||
HTuple hv_And, hv_Number, hv_Area, hv_Row, hv_Column, hv_Exception;
|
||
|
||
|
||
|
||
|
||
|
||
|
||
(*hv_out_Flag) = 0;
|
||
(*hv_out_Ngtails) = "ok";
|
||
try
|
||
{
|
||
FillUp(ho_in_ZeroRegion, &ho_RegionFillUp);
|
||
Difference(ho_RegionFillUp, ho_in_ZeroRegion, &ho_Tempregion);
|
||
hv_A = ((const HTuple&)hv_in_PlaneParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_in_PlaneParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_in_PlaneParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_in_PlaneParamValue)[3];
|
||
|
||
GetRegionPoints(ho_Tempregion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_in_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_in_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_in_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = hv_Dist * -1;
|
||
}
|
||
if (0 != (hv_in_Direc == HTuple("Pos")))
|
||
{
|
||
TupleGreaterElem(hv_Dist, hv_in_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
else if (0 != (hv_in_Direc == HTuple("Neg")))
|
||
{
|
||
hv_HeightOut = hv_HeightOut * -1;
|
||
TupleLessElem(hv_Dist, hv_in_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
else if (0 != (hv_in_Direc == HTuple("all")))
|
||
{
|
||
TupleLessElem(hv_Dist, hv_in_Height, &hv_Com_Tuple2);
|
||
TupleGreaterElem(hv_Dist, -hv_in_Height, &hv_Com_Tuple1);
|
||
TupleAnd(hv_Com_Tuple1, hv_Com_Tuple2, &hv_And);
|
||
TupleMult(hv_Rows, hv_And, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_And, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
ClosingCircle(ho_Out_ROI, &ho_RegionOpening, 4.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions4);
|
||
SelectShape(ho_ConnectedRegions4, &ho_SelectedRegions3, "max_diameter", "and",
|
||
450, 900);
|
||
CountObj(ho_SelectedRegions3, &hv_Number);
|
||
//if (Number>1)
|
||
//smallest_rectangle1 (out_EdgeRegion, Row11, Column11, Row21, Column21)
|
||
//select_shape (SelectedRegions3, SelectedRegions1, ['row','column'], 'and', [Row11,Column11], [Row21,Column21])
|
||
//SelectedRegions3 := SelectedRegions1
|
||
//endif
|
||
ClosingCircle(ho_SelectedRegions3, &ho_closingRegion, 20);
|
||
FillUp(ho_closingRegion, &(*ho_in_EdgeRegion));
|
||
AreaCenter((*ho_in_EdgeRegion), &hv_Area, &hv_Row, &hv_Column);
|
||
if (0 != (hv_Area > 0))
|
||
{
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
(*hv_out_Ngtails) = "算法错误";
|
||
}
|
||
return;
|
||
}
|
||
|
||
void Get_OutGlueRegion(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_ZeroRegion, HObject* ho_out_GlueRegion, HTuple hv_in_Height, HTuple hv_in_Direc,
|
||
HTuple hv_in_PlaneParamValue, HTuple* hv_out_Flag, HTuple* hv_out_Ngtails)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_RegionFillUp, ho_Tempregion, ho_Region2;
|
||
HObject ho_RegionOpening, ho_ConnectedRegions3, ho_Regions;
|
||
HObject ho_Out_ROI, ho_SelectedRegions2, ho_RegionFillUp1;
|
||
HObject ho_RegionDifference2, ho_EdgeRegion, ho_ConnectedRegions1;
|
||
|
||
// Local control variables
|
||
HTuple hv_A, hv_B, hv_C, hv_D, hv_Rows, hv_Columns;
|
||
HTuple hv_X, hv_Y, hv_Z, hv_Dist, hv_Com_Tuple, hv_Prod_X;
|
||
HTuple hv_Prod_Y, hv_Com_Tuple2, hv_Com_Tuple1, hv_And;
|
||
HTuple hv_Area, hv_Row, hv_Column, hv_Exception;
|
||
|
||
|
||
|
||
|
||
|
||
|
||
(*hv_out_Flag) = 0;
|
||
(*hv_out_Ngtails) = "ok";
|
||
try
|
||
{
|
||
FillUp(ho_in_ZeroRegion, &ho_RegionFillUp);
|
||
Difference(ho_RegionFillUp, ho_in_ZeroRegion, &ho_Tempregion);
|
||
//dev_display (in_XIageScaled)
|
||
if (HDevWindowStack::IsOpen())
|
||
DispObj(ho_Tempregion, HDevWindowStack::GetActive());
|
||
hv_A = ((const HTuple&)hv_in_PlaneParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_in_PlaneParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_in_PlaneParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_in_PlaneParamValue)[3];
|
||
GetRegionPoints(ho_Tempregion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_in_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_in_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_in_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = hv_Dist * -1;
|
||
}
|
||
if (0 != (hv_in_Direc == HTuple("Pos")))
|
||
{
|
||
TupleGreaterElem(hv_Dist, hv_in_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
else if (0 != (hv_in_Direc == HTuple("Neg")))
|
||
{
|
||
//Height := Height*(-1)
|
||
TupleLessElem(hv_Dist, -hv_in_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
else if (0 != (hv_in_Direc == HTuple("all")))
|
||
{
|
||
TupleLessElem(hv_Dist, hv_in_Height, &hv_Com_Tuple2);
|
||
TupleGreaterElem(hv_Dist, -hv_in_Height, &hv_Com_Tuple1);
|
||
TupleAnd(hv_Com_Tuple1, hv_Com_Tuple2, &hv_And);
|
||
TupleMult(hv_Rows, hv_And, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_And, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
|
||
|
||
Connection(ho_Out_ROI, &ho_ConnectedRegions3);
|
||
SelectShapeStd(ho_ConnectedRegions3, &ho_SelectedRegions2, "max_area", 70);
|
||
FillUp(ho_SelectedRegions2, &ho_RegionFillUp1);
|
||
Difference(ho_RegionFillUp1, ho_SelectedRegions2, &ho_RegionDifference2);
|
||
OpeningCircle(ho_RegionDifference2, &ho_EdgeRegion, 5.5);
|
||
Connection(ho_EdgeRegion, &ho_ConnectedRegions1);
|
||
SelectShapeStd(ho_ConnectedRegions1, &(*ho_out_GlueRegion), "max_area", 70);
|
||
AreaCenter((*ho_out_GlueRegion), &hv_Area, &hv_Row, &hv_Column);
|
||
if (0 != (hv_Area > 0))
|
||
{
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
(*hv_out_Flag) = 0;
|
||
(*hv_out_Ngtails) = "算法错误";
|
||
}
|
||
return;
|
||
}
|
||
|
||
void Get_ROI1(HObject ho_XImageScaled, HObject ho_YImageScaled, HObject ho_ZImageScaled,
|
||
HObject ho_ZeroRegion, HObject ho_TmpRegion, HObject* ho_Out_ROI, HTuple hv_Direc,
|
||
HTuple hv_Height)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3;
|
||
HObject ho_Region2, ho_RegionOpening, ho_ConnectedRegions3;
|
||
HObject ho_Regions;
|
||
|
||
// Local control variables
|
||
HTuple hv_Debug, hv_ObjectModel3D, hv_ParFitting;
|
||
HTuple hv_ValFitting, hv_ObjectModelPlane, hv_GenParamValue;
|
||
HTuple hv_A, hv_B, hv_C, hv_D, hv_WindowHandleOut, hv_PoseOut;
|
||
HTuple hv_Rows, hv_Columns, hv_X, hv_Y, hv_Z, hv_Dist;
|
||
HTuple hv_Com_Tuple, hv_Prod_X, hv_Prod_Y, hv_Com_Tuple2;
|
||
HTuple hv_Com_Tuple1, hv_And, hv_Exception;
|
||
|
||
|
||
//**********************************************************************
|
||
//Function Name: Get_ROI1
|
||
//Author: 胡汉兵,
|
||
//Description: 获取有效的检测面,
|
||
//Input:
|
||
// XImageScaled, X向图像
|
||
// YImageScaled, Y向图像
|
||
// ZImageScaled, Z向图像
|
||
// Zero_Region, 基准平面的区域,
|
||
// InspectioRegion, 提取有效的检测面的Region
|
||
// Direc, 挑选极柱面的方向, 'Pos':极柱面上+ 'Neg': 极柱面下- 'all': 极柱上下范围内的点集,
|
||
// Height, 挑选极柱面的高度值(mm)
|
||
//output： Out_ROI, 挑选的ROI区域,
|
||
|
||
//verion change log: 胡汉兵 2023-09-07 V1.1 Create new function
|
||
// 胡汉兵 2023-11-01 V1.2 新增面上下范围内的点集,
|
||
//
|
||
//**********************************************************************
|
||
hv_Debug = 0;
|
||
try
|
||
{
|
||
ReduceDomain(ho_XImageScaled, ho_ZeroRegion, &ho_ImageReduced1);
|
||
ReduceDomain(ho_YImageScaled, ho_ZeroRegion, &ho_ImageReduced2);
|
||
ReduceDomain(ho_ZImageScaled, ho_ZeroRegion, &ho_ImageReduced3);
|
||
XyzToObjectModel3d(ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3, &hv_ObjectModel3D);
|
||
//拟合平面,
|
||
hv_ParFitting.Clear();
|
||
hv_ParFitting[0] = "primitive_type";
|
||
hv_ParFitting[1] = "fitting_algorithm";
|
||
hv_ParFitting[2] = "output_xyz_mapping";
|
||
hv_ValFitting.Clear();
|
||
hv_ValFitting[0] = "plane";
|
||
hv_ValFitting[1] = "least_squares_huber";
|
||
hv_ValFitting[2] = "false";
|
||
//利用产品的边缘拟合平面,
|
||
FitPrimitivesObjectModel3d(hv_ObjectModel3D, hv_ParFitting, hv_ValFitting, &hv_ObjectModelPlane);
|
||
GetObjectModel3dParams(hv_ObjectModelPlane, "primitive_parameter", &hv_GenParamValue);
|
||
hv_A = ((const HTuple&)hv_GenParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_GenParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_GenParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_GenParamValue)[3];
|
||
|
||
GetRegionPoints(ho_TmpRegion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = hv_Dist * -1;
|
||
}
|
||
if (0 != (hv_Direc == HTuple("Pos")))
|
||
{
|
||
TupleGreaterElem(hv_Dist, hv_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &(*ho_Out_ROI));
|
||
}
|
||
else if (0 != (hv_Direc == HTuple("Neg")))
|
||
{
|
||
hv_Height = hv_Height * -1;
|
||
TupleLessElem(hv_Dist, hv_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &(*ho_Out_ROI));
|
||
}
|
||
else if (0 != (hv_Direc == HTuple("all")))
|
||
{
|
||
TupleLessElem(hv_Dist, hv_Height, &hv_Com_Tuple2);
|
||
TupleGreaterElem(hv_Dist, -hv_Height, &hv_Com_Tuple1);
|
||
TupleAnd(hv_Com_Tuple1, hv_Com_Tuple2, &hv_And);
|
||
TupleMult(hv_Rows, hv_And, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_And, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &(*ho_Out_ROI));
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
|
||
|
||
|
||
}
|
||
|
||
return;
|
||
}
|
||
|
||
// Generated stubs for parallel procedure calls. Wrapped in name
|
||
// space to avoid name conflicts with actual procedure names
|
||
namespace HDevExportCpp
|
||
{
|
||
// Parallel execution wrapper for Get_OutGlueRegion(...)
|
||
static void* _hcppthread_Get_OutGlueRegion(void* hcthread)
|
||
{
|
||
// +++ define thread context for this procedure
|
||
HDevThread* hcppthread = (HDevThread*)hcthread;
|
||
try
|
||
{
|
||
// Input parameters
|
||
const HObject& cbho_in_XImageScaled = hcppthread->GetInputIconicParamObject(0);
|
||
const HObject& cbho_in_YImageScaled = hcppthread->GetInputIconicParamObject(1);
|
||
const HObject& cbho_in_ZImageScaled = hcppthread->GetInputIconicParamObject(2);
|
||
const HObject& cbho_in_ZeroRegion = hcppthread->GetInputIconicParamObject(3);
|
||
const HTuple& cbhv_in_Height = hcppthread->GetInputCtrlParamTuple(4);
|
||
const HTuple& cbhv_in_Direc = hcppthread->GetInputCtrlParamTuple(5);
|
||
const HTuple& cbhv_in_PlaneParamValue = hcppthread->GetInputCtrlParamTuple(6);
|
||
|
||
// Output parameters
|
||
HObject cbho_out_GlueRegion;
|
||
HTuple cbhv_out_Flag;
|
||
HTuple cbhv_out_Ngtails;
|
||
|
||
// Call Get_OutGlueRegion
|
||
Get_OutGlueRegion(cbho_in_XImageScaled, cbho_in_YImageScaled, cbho_in_ZImageScaled,
|
||
cbho_in_ZeroRegion, &cbho_out_GlueRegion, cbhv_in_Height, cbhv_in_Direc,
|
||
cbhv_in_PlaneParamValue, &cbhv_out_Flag, &cbhv_out_Ngtails);
|
||
|
||
// Store output parameters in thread object
|
||
hcppthread->StoreOutputIconicParamObject(0, cbho_out_GlueRegion);
|
||
hcppthread->StoreOutputCtrlParamTuple(1, cbhv_out_Flag);
|
||
hcppthread->StoreOutputCtrlParamTuple(2, cbhv_out_Ngtails);
|
||
|
||
// Reduce reference counter of thread object
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
|
||
}
|
||
catch (HException& exc)
|
||
{
|
||
// No exceptions may be raised from stub in parallel case,
|
||
// so we need to store this information prior to cleanup
|
||
bool is_direct_call = hcppthread->IsDirectCall();
|
||
// Attempt to clean up in error case, too
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
// Propagate exception if called directly
|
||
if (is_direct_call)
|
||
throw exc;
|
||
}
|
||
return NULL;
|
||
}
|
||
|
||
// Parallel execution wrapper for Get_InGlueRegion(...)
|
||
static void* _hcppthread_Get_InGlueRegion(void* hcthread)
|
||
{
|
||
// +++ define thread context for this procedure
|
||
HDevThread* hcppthread = (HDevThread*)hcthread;
|
||
try
|
||
{
|
||
// Input parameters
|
||
const HObject& cbho_in_XImageScaled = hcppthread->GetInputIconicParamObject(0);
|
||
const HObject& cbho_in_YImageScaled = hcppthread->GetInputIconicParamObject(1);
|
||
const HObject& cbho_in_ZImageScaled = hcppthread->GetInputIconicParamObject(2);
|
||
const HObject& cbho_in_ZeroRegion = hcppthread->GetInputIconicParamObject(3);
|
||
const HTuple& cbhv_in_Height = hcppthread->GetInputCtrlParamTuple(4);
|
||
const HTuple& cbhv_in_PlaneParamValue = hcppthread->GetInputCtrlParamTuple(5);
|
||
const HTuple& cbhv_in_Direc = hcppthread->GetInputCtrlParamTuple(6);
|
||
|
||
// Output parameters
|
||
HObject cbho_in_EdgeRegion;
|
||
HTuple cbhv_out_Flag;
|
||
HTuple cbhv_out_Ngtails;
|
||
|
||
// Call Get_InGlueRegion
|
||
Get_InGlueRegion(cbho_in_XImageScaled, cbho_in_YImageScaled, cbho_in_ZImageScaled,
|
||
cbho_in_ZeroRegion, &cbho_in_EdgeRegion, cbhv_in_Height, cbhv_in_PlaneParamValue,
|
||
cbhv_in_Direc, &cbhv_out_Flag, &cbhv_out_Ngtails);
|
||
|
||
// Store output parameters in thread object
|
||
hcppthread->StoreOutputIconicParamObject(0, cbho_in_EdgeRegion);
|
||
hcppthread->StoreOutputCtrlParamTuple(1, cbhv_out_Flag);
|
||
hcppthread->StoreOutputCtrlParamTuple(2, cbhv_out_Ngtails);
|
||
|
||
// Reduce reference counter of thread object
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
|
||
}
|
||
catch (HException& exc)
|
||
{
|
||
// No exceptions may be raised from stub in parallel case,
|
||
// so we need to store this information prior to cleanup
|
||
bool is_direct_call = hcppthread->IsDirectCall();
|
||
// Attempt to clean up in error case, too
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
// Propagate exception if called directly
|
||
if (is_direct_call)
|
||
throw exc;
|
||
}
|
||
return NULL;
|
||
}
|
||
|
||
// Parallel execution wrapper for Cal_Height1(...)
|
||
static void* _hcppthread_Cal_Height1(void* hcthread)
|
||
{
|
||
// +++ define thread context for this procedure
|
||
HDevThread* hcppthread = (HDevThread*)hcthread;
|
||
try
|
||
{
|
||
// Input parameters
|
||
const HObject& cbho_in_XImageScaled = hcppthread->GetInputIconicParamObject(0);
|
||
const HObject& cbho_in_YImageScaled = hcppthread->GetInputIconicParamObject(1);
|
||
const HObject& cbho_in_ZImageScaled = hcppthread->GetInputIconicParamObject(2);
|
||
const HObject& cbho_in_InspectionRegion = hcppthread->GetInputIconicParamObject(3);
|
||
const HTuple& cbhv_in_PlaneParamValue = hcppthread->GetInputCtrlParamTuple(4);
|
||
|
||
// Output parameters
|
||
HTuple cbhv_out_PaintRows;
|
||
HTuple cbhv_out_PaintColumns;
|
||
HTuple cbhv_out_Height;
|
||
HTuple cbhv_out_Flag;
|
||
|
||
// Call Cal_Height1
|
||
Cal_Height1(cbho_in_XImageScaled, cbho_in_YImageScaled, cbho_in_ZImageScaled,
|
||
cbho_in_InspectionRegion, cbhv_in_PlaneParamValue, &cbhv_out_PaintRows, &cbhv_out_PaintColumns,
|
||
&cbhv_out_Height, &cbhv_out_Flag);
|
||
|
||
// Store output parameters in thread object
|
||
hcppthread->StoreOutputCtrlParamTuple(0, cbhv_out_PaintRows);
|
||
hcppthread->StoreOutputCtrlParamTuple(1, cbhv_out_PaintColumns);
|
||
hcppthread->StoreOutputCtrlParamTuple(2, cbhv_out_Height);
|
||
hcppthread->StoreOutputCtrlParamTuple(3, cbhv_out_Flag);
|
||
|
||
// Reduce reference counter of thread object
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
|
||
}
|
||
catch (HException& exc)
|
||
{
|
||
// No exceptions may be raised from stub in parallel case,
|
||
// so we need to store this information prior to cleanup
|
||
bool is_direct_call = hcppthread->IsDirectCall();
|
||
// Attempt to clean up in error case, too
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
// Propagate exception if called directly
|
||
if (is_direct_call)
|
||
throw exc;
|
||
}
|
||
return NULL;
|
||
}
|
||
|
||
// Parallel execution wrapper for Cal_Height2(...)
|
||
static void* _hcppthread_Cal_Height2(void* hcthread)
|
||
{
|
||
// +++ define thread context for this procedure
|
||
HDevThread* hcppthread = (HDevThread*)hcthread;
|
||
try
|
||
{
|
||
// Input parameters
|
||
const HObject& cbho_in_XImageScaled = hcppthread->GetInputIconicParamObject(0);
|
||
const HObject& cbho_in_YImageScaled = hcppthread->GetInputIconicParamObject(1);
|
||
const HObject& cbho_in_ZImageScaled = hcppthread->GetInputIconicParamObject(2);
|
||
const HObject& cbho_in_InspectionRegion = hcppthread->GetInputIconicParamObject(3);
|
||
const HObject& cbho_in_ProductRegion = hcppthread->GetInputIconicParamObject(4);
|
||
const HTuple& cbhv_in_PlaneParamValue = hcppthread->GetInputCtrlParamTuple(5);
|
||
|
||
// Output parameters
|
||
HTuple cbhv_out_PaintRows;
|
||
HTuple cbhv_out_PaintColumns;
|
||
HTuple cbhv_out_Height;
|
||
HTuple cbhv_out_Flag;
|
||
|
||
// Call Cal_Height2
|
||
Cal_Height2(cbho_in_XImageScaled, cbho_in_YImageScaled, cbho_in_ZImageScaled,
|
||
cbho_in_InspectionRegion, cbho_in_ProductRegion, cbhv_in_PlaneParamValue,
|
||
&cbhv_out_PaintRows, &cbhv_out_PaintColumns, &cbhv_out_Height, &cbhv_out_Flag);
|
||
|
||
// Store output parameters in thread object
|
||
hcppthread->StoreOutputCtrlParamTuple(0, cbhv_out_PaintRows);
|
||
hcppthread->StoreOutputCtrlParamTuple(1, cbhv_out_PaintColumns);
|
||
hcppthread->StoreOutputCtrlParamTuple(2, cbhv_out_Height);
|
||
hcppthread->StoreOutputCtrlParamTuple(3, cbhv_out_Flag);
|
||
|
||
// Reduce reference counter of thread object
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
|
||
}
|
||
catch (HException& exc)
|
||
{
|
||
// No exceptions may be raised from stub in parallel case,
|
||
// so we need to store this information prior to cleanup
|
||
bool is_direct_call = hcppthread->IsDirectCall();
|
||
// Attempt to clean up in error case, too
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
// Propagate exception if called directly
|
||
if (is_direct_call)
|
||
throw exc;
|
||
}
|
||
return NULL;
|
||
}
|
||
|
||
// Parallel execution wrapper for Cal_Height3(...)
|
||
static void* _hcppthread_Cal_Height3(void* hcthread)
|
||
{
|
||
// +++ define thread context for this procedure
|
||
HDevThread* hcppthread = (HDevThread*)hcthread;
|
||
try
|
||
{
|
||
// Input parameters
|
||
const HObject& cbho_in_XImageScaled = hcppthread->GetInputIconicParamObject(0);
|
||
const HObject& cbho_in_YImageScaled = hcppthread->GetInputIconicParamObject(1);
|
||
const HObject& cbho_in_ZImageScaled = hcppthread->GetInputIconicParamObject(2);
|
||
const HObject& cbho_in_innerEdge = hcppthread->GetInputIconicParamObject(3);
|
||
const HObject& cbho_in_outerEdge = hcppthread->GetInputIconicParamObject(4);
|
||
const HObject& cbho_in_HYRegion = hcppthread->GetInputIconicParamObject(5);
|
||
|
||
// Output parameters
|
||
HTuple cbhv_out_Height;
|
||
HTuple cbhv_out_Flag;
|
||
|
||
// Call Cal_Height3
|
||
Cal_Height3(cbho_in_XImageScaled, cbho_in_YImageScaled, cbho_in_ZImageScaled,
|
||
cbho_in_innerEdge, cbho_in_outerEdge, cbho_in_HYRegion, &cbhv_out_Height,
|
||
&cbhv_out_Flag);
|
||
|
||
// Store output parameters in thread object
|
||
hcppthread->StoreOutputCtrlParamTuple(0, cbhv_out_Height);
|
||
hcppthread->StoreOutputCtrlParamTuple(1, cbhv_out_Flag);
|
||
|
||
// Reduce reference counter of thread object
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
|
||
}
|
||
catch (HException& exc)
|
||
{
|
||
// No exceptions may be raised from stub in parallel case,
|
||
// so we need to store this information prior to cleanup
|
||
bool is_direct_call = hcppthread->IsDirectCall();
|
||
// Attempt to clean up in error case, too
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
// Propagate exception if called directly
|
||
if (is_direct_call)
|
||
throw exc;
|
||
}
|
||
return NULL;
|
||
}
|
||
}
|
||
|
||
|
||
#endif
|
||
|
||
|
||
#if 0
|
||
void Get_ROI1(HObject ho_XImageScaled, HObject ho_YImageScaled, HObject ho_ZImageScaled,
|
||
HObject ho_ZeroRegion, HObject ho_TmpRegion, HObject* ho_Out_ROI, HTuple hv_Direc,
|
||
HTuple hv_Height);
|
||
|
||
|
||
void Cal_Glue_Height(HObject ho_in_ImageH, HTuple hv_in_xResolution, HTuple hv_in_yResolution,
|
||
HTuple hv_in_zResolution, HTuple* hv_out_Height1, HTuple* hv_out_Height2, HTuple* hv_out_Point,
|
||
HTuple* hv_out_Flag, HTuple* hv_out_Ngtails);
|
||
void Cal_Height1(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_InspectionRegion, HTuple hv_in_PlaneParamValue, HTuple* hv_out_PaintRows,
|
||
HTuple* hv_out_PaintColumns, HTuple* hv_out_Height, HTuple* hv_out_Flag);
|
||
void Cal_Height2(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_InspectionRegion, HObject ho_in_ProductRegion, HTuple hv_in_PlaneParamValue,
|
||
HTuple* hv_out_PaintRows, HTuple* hv_out_PaintColumns, HTuple* hv_out_Height,
|
||
HTuple* hv_out_Flag);
|
||
void Cal_Height3(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_innerEdge, HObject ho_in_outerEdge, HObject ho_in_HYRegion, HTuple* hv_out_Height,
|
||
HTuple* hv_out_Flag);
|
||
|
||
void Get_InGlueRegion(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_ZeroRegion, HObject* ho_in_EdgeRegion, HTuple hv_in_Height, HTuple hv_in_PlaneParamValue,
|
||
HTuple hv_in_Direc, HTuple* hv_out_Flag, HTuple* hv_out_Ngtails);
|
||
|
||
void Get_OutGlueRegion(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_ZeroRegion, HObject* ho_out_GlueRegion, HTuple hv_in_Height, HTuple hv_in_Direc,
|
||
HTuple hv_in_PlaneParamValue, HTuple* hv_out_Flag, HTuple* hv_out_Ngtails);
|
||
|
||
|
||
namespace HDevExportCpp
|
||
{
|
||
// Parallel execution wrapper for Get_OutGlueRegion(...)
|
||
static void* _hcppthread_Get_OutGlueRegion(void* hcthread);
|
||
// Parallel execution wrapper for Get_InGlueRegion(...)
|
||
static void* _hcppthread_Get_InGlueRegion(void* hcthread);
|
||
// Parallel execution wrapper for Cal_Height1(...)
|
||
static void* _hcppthread_Cal_Height1(void* hcthread);
|
||
// Parallel execution wrapper for Cal_Height2(...)
|
||
static void* _hcppthread_Cal_Height2(void* hcthread);
|
||
// Parallel execution wrapper for Cal_Height3(...)
|
||
static void* _hcppthread_Cal_Height3(void* hcthread);
|
||
}
|
||
|
||
void Get_ROI1(HObject ho_XImageScaled, HObject ho_YImageScaled, HObject ho_ZImageScaled,
|
||
HObject ho_ZeroRegion, HObject ho_TmpRegion, HObject* ho_Out_ROI, HTuple hv_Direc,
|
||
HTuple hv_Height)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3;
|
||
HObject ho_Region2, ho_RegionOpening, ho_ConnectedRegions3;
|
||
HObject ho_Regions;
|
||
|
||
// Local control variables
|
||
HTuple hv_Debug, hv_ObjectModel3D, hv_ParFitting;
|
||
HTuple hv_ValFitting, hv_ObjectModelPlane, hv_GenParamValue;
|
||
HTuple hv_A, hv_B, hv_C, hv_D, hv_WindowHandleOut, hv_PoseOut;
|
||
HTuple hv_Rows, hv_Columns, hv_X, hv_Y, hv_Z, hv_Dist;
|
||
HTuple hv_Com_Tuple, hv_Prod_X, hv_Prod_Y, hv_Com_Tuple2;
|
||
HTuple hv_Com_Tuple1, hv_And, hv_Exception;
|
||
|
||
|
||
//**********************************************************************
|
||
//Function Name: Get_ROI1
|
||
//Author: 胡汉兵,
|
||
//Description: 获取有效的检测面,
|
||
//Input:
|
||
// XImageScaled, X向图像
|
||
// YImageScaled, Y向图像
|
||
// ZImageScaled, Z向图像
|
||
// Zero_Region, 基准平面的区域,
|
||
// InspectioRegion, 提取有效的检测面的Region
|
||
// Direc, 挑选极柱面的方向, 'Pos':极柱面上+ 'Neg': 极柱面下- 'all': 极柱上下范围内的点集,
|
||
// Height, 挑选极柱面的高度值(mm)
|
||
//output： Out_ROI, 挑选的ROI区域,
|
||
|
||
//verion change log: 胡汉兵 2023-09-07 V1.1 Create new function
|
||
// 胡汉兵 2023-11-01 V1.2 新增面上下范围内的点集,
|
||
//
|
||
//**********************************************************************
|
||
hv_Debug = 0;
|
||
try
|
||
{
|
||
ReduceDomain(ho_XImageScaled, ho_ZeroRegion, &ho_ImageReduced1);
|
||
ReduceDomain(ho_YImageScaled, ho_ZeroRegion, &ho_ImageReduced2);
|
||
ReduceDomain(ho_ZImageScaled, ho_ZeroRegion, &ho_ImageReduced3);
|
||
XyzToObjectModel3d(ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3, &hv_ObjectModel3D);
|
||
//拟合平面,
|
||
hv_ParFitting.Clear();
|
||
hv_ParFitting[0] = "primitive_type";
|
||
hv_ParFitting[1] = "fitting_algorithm";
|
||
hv_ParFitting[2] = "output_xyz_mapping";
|
||
hv_ValFitting.Clear();
|
||
hv_ValFitting[0] = "plane";
|
||
hv_ValFitting[1] = "least_squares_huber";
|
||
hv_ValFitting[2] = "false";
|
||
//利用产品的边缘拟合平面,
|
||
FitPrimitivesObjectModel3d(hv_ObjectModel3D, hv_ParFitting, hv_ValFitting, &hv_ObjectModelPlane);
|
||
GetObjectModel3dParams(hv_ObjectModelPlane, "primitive_parameter", &hv_GenParamValue);
|
||
hv_A = ((const HTuple&)hv_GenParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_GenParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_GenParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_GenParamValue)[3];
|
||
|
||
GetRegionPoints(ho_TmpRegion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = hv_Dist * -1;
|
||
}
|
||
if (0 != (hv_Direc == HTuple("Pos")))
|
||
{
|
||
TupleGreaterElem(hv_Dist, hv_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &(*ho_Out_ROI));
|
||
}
|
||
else if (0 != (hv_Direc == HTuple("Neg")))
|
||
{
|
||
hv_Height = hv_Height * -1;
|
||
TupleLessElem(hv_Dist, hv_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &(*ho_Out_ROI));
|
||
}
|
||
else if (0 != (hv_Direc == HTuple("all")))
|
||
{
|
||
TupleLessElem(hv_Dist, hv_Height, &hv_Com_Tuple2);
|
||
TupleGreaterElem(hv_Dist, -hv_Height, &hv_Com_Tuple1);
|
||
TupleAnd(hv_Com_Tuple1, hv_Com_Tuple2, &hv_And);
|
||
TupleMult(hv_Rows, hv_And, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_And, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &(*ho_Out_ROI));
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
|
||
|
||
|
||
}
|
||
|
||
return;
|
||
}
|
||
void Cal_Glue_Height(HObject ho_in_ImageH, HTuple hv_in_xResolution, HTuple hv_in_yResolution,
|
||
HTuple hv_in_zResolution, HTuple* hv_out_Height1, HTuple* hv_out_Height2, HTuple* hv_out_Point,
|
||
HTuple* hv_out_Flag, HTuple* hv_out_Ngtails)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_ImageConverted, ho_YImageSurface;
|
||
HObject ho_XImageSurface, ho_in_XImageScaled, ho_in_YImageScaled;
|
||
HObject ho_in_ZImageScaled, ho_Regions, ho_Domain, ho_ProductRegion;
|
||
HObject ho_ImageReduced, ho_RegionClosing, ho_RegionFillUp3;
|
||
HObject ho_TempRegion, ho_RegionErosion3, ho_ZeroRegion;
|
||
HObject ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3;
|
||
HObject ho_in_ZeroRegion1, ho_out_GlueRegion, ho_in_ZeroRegion2;
|
||
HObject ho_in_EdgeRegion, ho_out_EdgeRegion, ho_InspectionRegion;
|
||
HObject ho_RegionErosion1, ho_RegionDilation2, ho_in_InspectionRegion3;
|
||
HObject ho_in_InspectionRegion4, ho_in_ProductRegion, ho_in_outerEdge;
|
||
HObject ho_in_innerEdge, ho_in_HYRegion, ho_RegionDifference;
|
||
HObject ho_Partitioned, ho_SortedRegions, ho_ObjectSelected;
|
||
HObject ho_RegionTrans, ho_Region, ho_Cross, ho_RegionIntersection;
|
||
|
||
// Local control variables
|
||
HTuple hv_Debug, hv_Type, hv_Width2, hv_Height2;
|
||
HTuple hv_ObjectModel3D, hv_ParFitting, hv_ValFitting;
|
||
HTuple hv_ObjectModelPlane, hv_PlaneParamValue, hv_Thread;
|
||
HTuple hv_in_Direc1, hv_in_Height1, hv_in_PlaneParamValue1;
|
||
HTuple hv_Thread1, hv_out_Flag1, hv_out_Ngtails1, hv_in_Direc2;
|
||
HTuple hv_in_Height2, hv_in_PlaneParamValue2, hv_Thread2;
|
||
HTuple hv_out_Flag2, hv_out_Ngtails2, hv_Area2, hv_Row2;
|
||
HTuple hv_Column2, hv_Area3, hv_Row3, hv_Column3, hv_Area;
|
||
HTuple hv_Row, hv_Column, hv_Area1, hv_Row1, hv_Column1;
|
||
HTuple hv_in_PlaneParamValue3, hv_Thread3, hv_out_PaintRows1;
|
||
HTuple hv_out_PaintColumns1, hv_out_Height3, hv_out_Flag3;
|
||
HTuple hv_in_PlaneParamValue4, hv_Thread4, hv_out_PaintRows2;
|
||
HTuple hv_out_PaintColumns2, hv_out_Height4, hv_out_Flag4;
|
||
HTuple hv_Thread5, hv_out_Height, hv_out_Flag5, hv_Value;
|
||
HTuple hv_Area4, hv_Row4, hv_Column4, hv_Exception;
|
||
|
||
// +++ Threading variables
|
||
HDevThread* hcppthread_handle;
|
||
HDevThreadContext hcppthread_context; // <-signals begin of procedure
|
||
|
||
|
||
//**********************************************************************
|
||
//Function Name: Cal_Glue_Height
|
||
//Author:
|
||
//Description: 基于基准面,计算点胶的高度(mm)
|
||
//Input: in_ImageH, 深度图像(tif),
|
||
// in_xResolution, X向精度(mm/pix)
|
||
// in_yResolution, y向精度(mm/pix)
|
||
// in_zResolution, z向精度(mm/pix)
|
||
|
||
//output： out_Height, 点胶高度(mm), 一般情况下,胶的高度高于电池边缘面的区域, 才有高度输出.
|
||
// out_Point: 胶的高点和基准面的高点坐标(y,x)
|
||
// out_Flag, 算法执行的标志位; 1, 算法执行成功 2, 算法执行错误
|
||
// out_Ngtails, 算法执行信息,
|
||
//verion change log: 胡汉兵 2024-06-15 V1.1 Create new function.
|
||
// 胡汉兵 2024-06-20 V1.2 软件端执行结果异常, 算法直接强行赋值为0.
|
||
// 胡汉兵 2024-07-04 V1.3 现场输出电池的最高点位置,便于客户基于当前点位进行测量.
|
||
// 胡汉兵 2024-07-09 V1.4 使用原始图像进行高度计算,
|
||
// 胡汉兵 2024-07-16 V1.5 保护, 防止程序崩溃时, 无结果图输出.
|
||
// 胡汉兵 2024-09-11 V1.6 代码优化, 中间
|
||
//**********************************************************************
|
||
hv_Debug = 0;
|
||
(*hv_out_Height1) = -99;
|
||
(*hv_out_Height2) = -99;
|
||
(*hv_out_Flag) = 2;
|
||
(*hv_out_Ngtails) = "OK";
|
||
(*hv_out_Point) = HTuple();
|
||
try
|
||
{
|
||
if (HDevWindowStack::IsOpen())
|
||
SetDraw(HDevWindowStack::GetActive(), "margin");
|
||
GetImageType(ho_in_ImageH, &hv_Type);
|
||
if (0 != (hv_Type != HTuple("real")))
|
||
{
|
||
ConvertImageType(ho_in_ImageH, &ho_ImageConverted, "real");
|
||
}
|
||
else
|
||
{
|
||
ho_ImageConverted = ho_in_ImageH;
|
||
}
|
||
GetImageSize(ho_ImageConverted, &hv_Width2, &hv_Height2);
|
||
GenImageSurfaceFirstOrder(&ho_YImageSurface, "real", 1, 0, 0, 0, 0, hv_Width2,
|
||
hv_Height2);
|
||
GenImageSurfaceFirstOrder(&ho_XImageSurface, "real", 0, 1, 0, 0, 0, hv_Width2,
|
||
hv_Height2);
|
||
ScaleImage(ho_XImageSurface, &ho_in_XImageScaled, hv_in_xResolution, 0);
|
||
ScaleImage(ho_YImageSurface, &ho_in_YImageScaled, hv_in_xResolution, 0);
|
||
ScaleImage(ho_ImageConverted, &ho_in_ZImageScaled, hv_in_zResolution, 0);
|
||
|
||
Threshold(ho_ImageConverted, &ho_Regions, 0, 0);
|
||
GetDomain(ho_in_ImageH, &ho_Domain);
|
||
Difference(ho_Domain, ho_Regions, &ho_ProductRegion);
|
||
ReduceDomain(ho_in_ZImageScaled, ho_ProductRegion, &ho_ImageReduced);
|
||
if (0 != hv_Debug)
|
||
{
|
||
//reduce_domain (in_XImageScaled, ProductRegion, ImageReduced4)
|
||
//reduce_domain (in_YImageScaled, ProductRegion, ImageReduced5)
|
||
//xyz_to_object_model_3d (ImageReduced4, ImageReduced5, ImageReduced, ObjectModel3D)
|
||
//dev_get_window (WindowHandle)
|
||
//visualize_object_model_3d (WindowHandle, [ObjectModel3D], [], [], ['lut','intensity','disp_pose'], ['hsi','coord_z', 'true'], ['展示拟合的平面'], '', '', Pose)
|
||
}
|
||
|
||
|
||
//******************************************************
|
||
//step2: 获取基准面区域(新代码不使用这个区域的Region)
|
||
ClosingCircle(ho_ProductRegion, &ho_RegionClosing, 15);
|
||
FillUp(ho_RegionClosing, &ho_RegionFillUp3);
|
||
ErosionRectangle1(ho_RegionFillUp3, &ho_TempRegion, 1, 220);
|
||
//dev_display (ImageReduced)
|
||
//dev_display (TempRegion)
|
||
//区间进行内缩, 获取基准的端面.
|
||
ErosionCircle(ho_TempRegion, &ho_RegionErosion3, 80);
|
||
Difference(ho_TempRegion, ho_RegionErosion3, &ho_ZeroRegion);
|
||
//dev_display (ImageReduced)
|
||
//dev_display (ZeroRegion)
|
||
//******************************************************
|
||
//共用的
|
||
//优化, 调整基准面
|
||
ReduceDomain(ho_in_XImageScaled, ho_ZeroRegion, &ho_ImageReduced1);
|
||
ReduceDomain(ho_in_YImageScaled, ho_ZeroRegion, &ho_ImageReduced2);
|
||
ReduceDomain(ho_in_ZImageScaled, ho_ZeroRegion, &ho_ImageReduced3);
|
||
XyzToObjectModel3d(ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3, &hv_ObjectModel3D);
|
||
//拟合平面,
|
||
hv_ParFitting.Clear();
|
||
hv_ParFitting[0] = "primitive_type";
|
||
hv_ParFitting[1] = "fitting_algorithm";
|
||
hv_ParFitting[2] = "output_xyz_mapping";
|
||
hv_ValFitting.Clear();
|
||
hv_ValFitting[0] = "plane";
|
||
hv_ValFitting[1] = "least_squares_huber";
|
||
hv_ValFitting[2] = "false";
|
||
//利用产品的边缘拟合平面,
|
||
FitPrimitivesObjectModel3d(hv_ObjectModel3D, hv_ParFitting, hv_ValFitting, &hv_ObjectModelPlane);
|
||
GetObjectModel3dParams(hv_ObjectModelPlane, "primitive_parameter", &hv_PlaneParamValue);
|
||
|
||
if (0 != 0)
|
||
{
|
||
hv_Thread = HTuple();
|
||
//线程一,
|
||
hv_in_Direc1 = "Neg";
|
||
hv_in_Height1 = 1.0;
|
||
hv_in_PlaneParamValue1 = hv_PlaneParamValue;
|
||
ho_in_ZeroRegion1 = ho_ZeroRegion;
|
||
// Create a thread instance
|
||
hcppthread_handle = new HDevThread(hcppthread_context,
|
||
(void*)HDevExportCpp::_hcppthread_Get_OutGlueRegion, 7, 3);
|
||
// Set thread procedure call arguments
|
||
hcppthread_handle->SetInputIconicParamObject(0, ho_in_XImageScaled);
|
||
hcppthread_handle->SetInputIconicParamObject(1, ho_in_YImageScaled);
|
||
hcppthread_handle->SetInputIconicParamObject(2, ho_in_ZImageScaled);
|
||
hcppthread_handle->SetInputIconicParamObject(3, ho_in_ZeroRegion1);
|
||
hcppthread_handle->SetInputCtrlParamTuple(4, hv_in_Height1);
|
||
hcppthread_handle->SetInputCtrlParamTuple(5, hv_in_Direc1);
|
||
hcppthread_handle->SetInputCtrlParamTuple(6, hv_in_PlaneParamValue1);
|
||
hcppthread_handle->BindOutputIconicParamObject(0, 0, &ho_out_GlueRegion);
|
||
hcppthread_handle->BindOutputCtrlParamTuple(1, 0, &hv_out_Flag1);
|
||
hcppthread_handle->BindOutputCtrlParamTuple(2, 0, &hv_out_Ngtails1);
|
||
|
||
// Start proc line in thread
|
||
hcppthread_handle->ParStart(&hv_Thread1);
|
||
|
||
hv_Thread = hv_Thread.TupleConcat(hv_Thread1);
|
||
//线程二,
|
||
hv_in_Direc2 = "all";
|
||
hv_in_Height2 = 0.15;
|
||
hv_in_PlaneParamValue2 = hv_PlaneParamValue;
|
||
ho_in_ZeroRegion2 = ho_ZeroRegion;
|
||
// Create a thread instance
|
||
hcppthread_handle = new HDevThread(hcppthread_context,
|
||
(void*)HDevExportCpp::_hcppthread_Get_InGlueRegion, 7, 3);
|
||
// Set thread procedure call arguments
|
||
hcppthread_handle->SetInputIconicParamObject(0, ho_in_XImageScaled);
|
||
hcppthread_handle->SetInputIconicParamObject(1, ho_in_YImageScaled);
|
||
hcppthread_handle->SetInputIconicParamObject(2, ho_in_ZImageScaled);
|
||
hcppthread_handle->SetInputIconicParamObject(3, ho_in_ZeroRegion2);
|
||
hcppthread_handle->SetInputCtrlParamTuple(4, hv_in_Height2);
|
||
hcppthread_handle->SetInputCtrlParamTuple(5, hv_in_PlaneParamValue2);
|
||
hcppthread_handle->SetInputCtrlParamTuple(6, hv_in_Direc2);
|
||
hcppthread_handle->BindOutputIconicParamObject(0, 0, &ho_in_EdgeRegion);
|
||
hcppthread_handle->BindOutputCtrlParamTuple(1, 0, &hv_out_Flag2);
|
||
hcppthread_handle->BindOutputCtrlParamTuple(2, 0, &hv_out_Ngtails2);
|
||
|
||
// Start proc line in thread
|
||
hcppthread_handle->ParStart(&hv_Thread2);
|
||
|
||
hv_Thread = hv_Thread.TupleConcat(hv_Thread2);
|
||
HDevThread::ParJoin(hv_Thread);
|
||
}
|
||
|
||
if (0 != 1)
|
||
{
|
||
//线程一,
|
||
hv_in_Direc1 = "Neg";
|
||
hv_in_Height1 = 1.0;
|
||
hv_in_PlaneParamValue1 = hv_PlaneParamValue;
|
||
ho_in_ZeroRegion1 = ho_ZeroRegion;
|
||
Get_OutGlueRegion(ho_in_XImageScaled, ho_in_YImageScaled, ho_in_ZImageScaled,
|
||
ho_in_ZeroRegion1, &ho_out_GlueRegion, hv_in_Height1, hv_in_Direc1, hv_in_PlaneParamValue1,
|
||
&hv_out_Flag1, &hv_out_Ngtails1);
|
||
|
||
//线程二,
|
||
hv_in_Direc2 = "all";
|
||
hv_in_Height2 = 0.15;
|
||
hv_in_PlaneParamValue2 = hv_PlaneParamValue;
|
||
ho_in_ZeroRegion2 = ho_ZeroRegion;
|
||
Get_InGlueRegion(ho_in_XImageScaled, ho_in_YImageScaled, ho_in_ZImageScaled,
|
||
ho_in_ZeroRegion2, &ho_in_EdgeRegion, hv_in_Height2, hv_in_PlaneParamValue2,
|
||
hv_in_Direc2, &hv_out_Flag2, &hv_out_Ngtails2);
|
||
|
||
}
|
||
|
||
|
||
if (0 != (HTuple(hv_out_Flag1 == 1).TupleAnd(hv_out_Flag2 == 1)))
|
||
{
|
||
//dev_display (ImageReduced)
|
||
//dev_display (out_GlueRegion)
|
||
//dev_display (in_EdgeRegion)
|
||
ho_out_EdgeRegion = ho_out_GlueRegion;
|
||
}
|
||
else
|
||
{
|
||
(*hv_out_Ngtails) = "点胶区域提取失败";
|
||
return;
|
||
}
|
||
|
||
AreaCenter(ho_in_EdgeRegion, &hv_Area2, &hv_Row2, &hv_Column2);
|
||
if (0 != (hv_Area2 < 10000))
|
||
{
|
||
ho_InspectionRegion = ho_out_GlueRegion;
|
||
AreaCenter(ho_out_GlueRegion, &hv_Area3, &hv_Row3, &hv_Column3);
|
||
GenCircle(&ho_in_EdgeRegion, hv_Row3, hv_Column3, 10);
|
||
}
|
||
else
|
||
{
|
||
//目前按照这个比例进行调整, 计算区域的高度.
|
||
ErosionRectangle1(ho_in_EdgeRegion, &ho_RegionErosion1, 345, 40);
|
||
//dev_display (ImageReduced)
|
||
//dev_display (RegionErosion1)
|
||
//dev_display (in_EdgeRegion)
|
||
AreaCenter(ho_RegionErosion1, &hv_Area, &hv_Row, &hv_Column);
|
||
if (0 != (hv_Area == 0))
|
||
{
|
||
AreaCenter(ho_in_EdgeRegion, &hv_Area1, &hv_Row1, &hv_Column1);
|
||
GenCircle(&ho_RegionErosion1, hv_Row1, hv_Column1, 3);
|
||
}
|
||
DilationRectangle1(ho_out_GlueRegion, &ho_RegionDilation2, 160, 20);
|
||
//dev_display (ImageReduced)
|
||
//dev_display (RegionDilation2)
|
||
Difference(ho_RegionDilation2, ho_RegionErosion1, &ho_InspectionRegion);
|
||
}
|
||
//******************************************************
|
||
if (HDevWindowStack::IsOpen())
|
||
DispObj(ho_ImageReduced, HDevWindowStack::GetActive());
|
||
if (HDevWindowStack::IsOpen())
|
||
DispObj(ho_InspectionRegion, HDevWindowStack::GetActive());
|
||
//__________________________________________________________________________
|
||
if (0 != 0)
|
||
{
|
||
hv_Thread = HTuple();
|
||
//线程三
|
||
ho_in_InspectionRegion3 = ho_InspectionRegion;
|
||
hv_in_PlaneParamValue3 = hv_PlaneParamValue;
|
||
// Create a thread instance
|
||
hcppthread_handle = new HDevThread(hcppthread_context,
|
||
(void*)HDevExportCpp::_hcppthread_Cal_Height1, 5, 4);
|
||
// Set thread procedure call arguments
|
||
hcppthread_handle->SetInputIconicParamObject(0, ho_in_XImageScaled);
|
||
hcppthread_handle->SetInputIconicParamObject(1, ho_in_YImageScaled);
|
||
hcppthread_handle->SetInputIconicParamObject(2, ho_in_ZImageScaled);
|
||
hcppthread_handle->SetInputIconicParamObject(3, ho_in_InspectionRegion3);
|
||
hcppthread_handle->SetInputCtrlParamTuple(4, hv_in_PlaneParamValue3);
|
||
hcppthread_handle->BindOutputCtrlParamTuple(0, 0, &hv_out_PaintRows1);
|
||
hcppthread_handle->BindOutputCtrlParamTuple(1, 0, &hv_out_PaintColumns1);
|
||
hcppthread_handle->BindOutputCtrlParamTuple(2, 0, &hv_out_Height3);
|
||
hcppthread_handle->BindOutputCtrlParamTuple(3, 0, &hv_out_Flag3);
|
||
|
||
// Start proc line in thread
|
||
hcppthread_handle->ParStart(&hv_Thread3);
|
||
|
||
|
||
hv_Thread = hv_Thread.TupleConcat(hv_Thread3);
|
||
//线程四,
|
||
//in_InspectionRegion4 := out_ROI1
|
||
ho_in_InspectionRegion4 = ho_ProductRegion;
|
||
hv_in_PlaneParamValue4 = hv_PlaneParamValue;
|
||
ho_in_ProductRegion = ho_ProductRegion;
|
||
// Create a thread instance
|
||
hcppthread_handle = new HDevThread(hcppthread_context,
|
||
(void*)HDevExportCpp::_hcppthread_Cal_Height2, 6, 4);
|
||
// Set thread procedure call arguments
|
||
hcppthread_handle->SetInputIconicParamObject(0, ho_in_XImageScaled);
|
||
hcppthread_handle->SetInputIconicParamObject(1, ho_in_YImageScaled);
|
||
hcppthread_handle->SetInputIconicParamObject(2, ho_in_ZImageScaled);
|
||
hcppthread_handle->SetInputIconicParamObject(3, ho_in_InspectionRegion4);
|
||
hcppthread_handle->SetInputIconicParamObject(4, ho_in_ProductRegion);
|
||
hcppthread_handle->SetInputCtrlParamTuple(5, hv_in_PlaneParamValue4);
|
||
hcppthread_handle->BindOutputCtrlParamTuple(0, 0, &hv_out_PaintRows2);
|
||
hcppthread_handle->BindOutputCtrlParamTuple(1, 0, &hv_out_PaintColumns2);
|
||
hcppthread_handle->BindOutputCtrlParamTuple(2, 0, &hv_out_Height4);
|
||
hcppthread_handle->BindOutputCtrlParamTuple(3, 0, &hv_out_Flag4);
|
||
|
||
// Start proc line in thread
|
||
hcppthread_handle->ParStart(&hv_Thread4);
|
||
|
||
|
||
ho_in_outerEdge = ho_out_GlueRegion;
|
||
ho_in_innerEdge = ho_in_EdgeRegion;
|
||
ho_in_HYRegion = ho_RegionErosion1;
|
||
// Create a thread instance
|
||
hcppthread_handle = new HDevThread(hcppthread_context,
|
||
(void*)HDevExportCpp::_hcppthread_Cal_Height3, 6, 2);
|
||
// Set thread procedure call arguments
|
||
hcppthread_handle->SetInputIconicParamObject(0, ho_in_XImageScaled);
|
||
hcppthread_handle->SetInputIconicParamObject(1, ho_in_YImageScaled);
|
||
hcppthread_handle->SetInputIconicParamObject(2, ho_in_ZImageScaled);
|
||
hcppthread_handle->SetInputIconicParamObject(3, ho_in_innerEdge);
|
||
hcppthread_handle->SetInputIconicParamObject(4, ho_in_outerEdge);
|
||
hcppthread_handle->SetInputIconicParamObject(5, ho_in_HYRegion);
|
||
hcppthread_handle->BindOutputCtrlParamTuple(0, 0, &hv_out_Height);
|
||
hcppthread_handle->BindOutputCtrlParamTuple(1, 0, &hv_out_Flag5);
|
||
|
||
// Start proc line in thread
|
||
hcppthread_handle->ParStart(&hv_Thread5);
|
||
|
||
|
||
|
||
hv_Thread = (hv_Thread.TupleConcat(hv_Thread4)).TupleConcat(hv_Thread5);
|
||
HDevThread::ParJoin(hv_Thread);
|
||
}
|
||
|
||
if (0 != 1)
|
||
{
|
||
//计算点胶高于基准面的高点
|
||
ho_in_InspectionRegion3 = ho_InspectionRegion;
|
||
hv_in_PlaneParamValue3 = hv_PlaneParamValue;
|
||
Cal_Height1(ho_in_XImageScaled, ho_in_YImageScaled, ho_in_ZImageScaled, ho_in_InspectionRegion3,
|
||
hv_in_PlaneParamValue3, &hv_out_PaintRows1, &hv_out_PaintColumns1, &hv_out_Height3,
|
||
&hv_out_Flag3);
|
||
//计算基准面的高点,
|
||
ho_in_InspectionRegion4 = ho_ProductRegion;
|
||
hv_in_PlaneParamValue4 = hv_PlaneParamValue;
|
||
ho_in_ProductRegion = ho_ProductRegion;
|
||
Cal_Height2(ho_in_XImageScaled, ho_in_YImageScaled, ho_in_ZImageScaled, ho_in_InspectionRegion4,
|
||
ho_in_ProductRegion, hv_in_PlaneParamValue4, &hv_out_PaintRows2, &hv_out_PaintColumns2,
|
||
&hv_out_Height4, &hv_out_Flag4);
|
||
//特殊区域补偿,
|
||
//dev_display (InspectionRegion)
|
||
Difference(ho_out_GlueRegion, ho_in_EdgeRegion, &ho_RegionDifference);
|
||
//dev_display (ImageReduced)
|
||
//dev_display (RegionDifference)
|
||
RegionFeatures(ho_RegionDifference, (HTuple("width").Append("height")), &hv_Value);
|
||
//region_features (RegionDifference, 'width', Value1)
|
||
PartitionRectangle(ho_RegionDifference, &ho_Partitioned, HTuple(hv_Value[0]) / 3.0,
|
||
HTuple(hv_Value[1]) + 30);
|
||
SortRegion(ho_Partitioned, &ho_SortedRegions, "character", "true", "column");
|
||
SelectObj(ho_SortedRegions, &ho_ObjectSelected, 2);
|
||
ShapeTrans(ho_ObjectSelected, &ho_RegionTrans, "rectangle2");
|
||
|
||
|
||
GenRegionPoints(&ho_Region, hv_out_PaintRows1, hv_out_PaintColumns1);
|
||
GenCrossContourXld(&ho_Cross, hv_out_PaintRows1, hv_out_PaintColumns1, 6, HTuple(45).TupleRad());
|
||
//dev_display (RegionTrans)
|
||
//dev_display (Cross)
|
||
|
||
Intersection(ho_Region, ho_RegionTrans, &ho_RegionIntersection);
|
||
AreaCenter(ho_RegionIntersection, &hv_Area4, &hv_Row4, &hv_Column4);
|
||
if (0 != (HTuple(hv_out_Height3 > hv_out_Height4).TupleAnd(hv_Area4 > 0)))
|
||
{
|
||
hv_out_Height3 += 0.05;
|
||
}
|
||
|
||
//stop ()
|
||
//调试用,
|
||
//if (0)
|
||
//erosion_rectangle1 (in_InspectionRegion4, RegionErosion, 10, 70)
|
||
//* difference (in_InspectionRegion4, RegionErosion, RegionDifference)
|
||
//* shape_trans (RegionDifference, RegionTrans, 'rectangle1')
|
||
//* erosion_rectangle1 (RegionTrans, RegionErosion1, 350, 1)
|
||
//* intersection (RegionDifference, RegionErosion1, InspectionRegion11)
|
||
//* connection (InspectionRegion11, ConnectedRegions)
|
||
//* select_shape (ConnectedRegions, SelectedRegions, 'area', 'and', 999, 999999999)
|
||
//* union1 (SelectedRegions, RegionUnion)
|
||
//dev_display (ImageReduced)
|
||
//* dev_display (RegionUnion)
|
||
//* reduce_domain (in_XImageScaled, RegionUnion, ImageReduced1)
|
||
//* reduce_domain (in_YImageScaled, RegionUnion, ImageReduced2)
|
||
//* reduce_domain (in_ZImageScaled, RegionUnion, ImageReduced3)
|
||
//xyz_to_object_model_3d (ImageReduced1, ImageReduced2, ImageReduced3, ObjectModel3D)
|
||
//ParFitting := ['primitive_type', 'fitting_algorithm', 'output_xyz_mapping']
|
||
//ValFitting := ['plane','least_squares_huber', 'false']
|
||
//利用产品的边缘拟合平面,
|
||
//fit_primitives_object_model_3d (ObjectModel3D, ParFitting, ValFitting, ObjectModelPlane)
|
||
|
||
//get_object_model_3d_params (ObjectModelPlane, 'primitive_parameter', PlaneParamValue)
|
||
//if (1)
|
||
//dev_get_window (WindowHandle)
|
||
//reduce_domain (in_XImageScaled, InspectionRegion, ImageReduced4)
|
||
//reduce_domain (in_YImageScaled, InspectionRegion, ImageReduced5)
|
||
//reduce_domain (in_ZImageScaled, InspectionRegion, ImageReduced6)
|
||
//* xyz_to_object_model_3d (ImageReduced4, ImageReduced5, ImageReduced6, ObjectModel3D1)
|
||
|
||
//* visualize_object_model_3d (WindowHandle, [ObjectModel3D1,ObjectModelPlane], [], [], ['lut','intensity','disp_pose'], ['hsi','coord_z', 'true'], ['展示拟合的平面'], '', '', Pose)
|
||
//endif
|
||
//endif
|
||
|
||
|
||
ho_in_outerEdge = ho_out_GlueRegion;
|
||
ho_in_innerEdge = ho_in_EdgeRegion;
|
||
ho_in_HYRegion = ho_RegionErosion1;
|
||
Cal_Height3(ho_in_XImageScaled, ho_in_YImageScaled, ho_in_ZImageScaled, ho_in_innerEdge,
|
||
ho_in_outerEdge, ho_in_HYRegion, &hv_out_Height, &hv_out_Flag5);
|
||
|
||
}
|
||
if (0 != (HTuple(HTuple(hv_out_Flag3 == 1).TupleAnd(hv_out_Flag4 == 1)).TupleAnd(hv_out_Flag5 == 1)))
|
||
{
|
||
(*hv_out_Height1) = hv_out_Height3 - hv_out_Height4;
|
||
(*hv_out_Height2) = hv_out_Height;
|
||
(*hv_out_Point).Clear();
|
||
(*hv_out_Point).Append(hv_out_PaintRows1);
|
||
(*hv_out_Point).Append(hv_out_PaintColumns1);
|
||
(*hv_out_Point).Append(hv_out_PaintRows2);
|
||
(*hv_out_Point).Append(hv_out_PaintColumns2);
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
if (0 != 1)
|
||
{
|
||
//高点和低点的在该处进行打印.
|
||
//gen_cross_contour_xld (Cross1, out_PaintRows1*zoomFactor, out_PaintColumns1, 40, rad(45))
|
||
//gen_cross_contour_xld (Cross2, out_PaintRows2*zoomFactor, out_PaintColumns2, 40, rad(45))
|
||
//get_contour_xld (Cross1, Row4, Col4)
|
||
//get_contour_xld (Cross2, Row5, Col5)
|
||
//gen_region_polygon (Region1, Row4, Col4)
|
||
//gen_region_polygon (Region2, Row5, Col5)
|
||
//dilation_circle (Region1, RegionDilation1, 1)
|
||
//dilation_circle (Region2, RegionDilation2, 1)
|
||
//union2 (RegionDilation1, RegionDilation2, RegionUnion)
|
||
//overpaint_region (out_DisplayImage, RegionUnion, [0,0,255], 'fill')
|
||
}
|
||
|
||
//__________________________________________________________________________
|
||
//***********************************************************************
|
||
|
||
//__________________________________________________________________________________
|
||
//基于边缘的扣边区域, 获取点胶的高度;
|
||
//dev_display (ImageReduced)
|
||
//dev_display (ProductRegion)
|
||
//erosion_circle (ProductRegion, RegionErosion2, 10)
|
||
//erosion_circle (RegionErosion2, RegionErosion4, 25)
|
||
//difference (RegionErosion2, RegionErosion4, RegionDifference)
|
||
//dev_display (ImageReduced)
|
||
//dev_display (RegionDifference)
|
||
|
||
//erosion_rectangle1 (ProductRegion, RegionErosion5, 180, 1)
|
||
//dilation_rectangle1 (RegionErosion5, RegionDilation, 1, 100)
|
||
//intersection (RegionDifference, RegionDilation, BaseRegion)
|
||
//dev_display (ImageReduced)
|
||
//dev_display (BaseRegion)
|
||
|
||
//reduce_domain (in_XImageScaled, BaseRegion, ImageReduced4)
|
||
//reduce_domain (in_YImageScaled, BaseRegion, ImageReduced5)
|
||
//reduce_domain (in_ZImageScaled, BaseRegion, ImageReduced6)
|
||
//xyz_to_object_model_3d (ImageReduced4, ImageReduced5, ImageReduced6, ObjectModel3D)
|
||
//拟合平面,
|
||
//ParFitting := ['primitive_type', 'fitting_algorithm', 'output_xyz_mapping']
|
||
//ValFitting := ['plane','least_squares_huber', 'false']
|
||
//利用产品的边缘拟合平面,
|
||
//fit_primitives_object_model_3d (ObjectModel3D, ParFitting, ValFitting, ObjectModelPlane)
|
||
//get_object_model_3d_params (ObjectModelPlane, 'primitive_parameter', PlaneParamValue)
|
||
|
||
//A := PlaneParamValue[0]
|
||
//B := PlaneParamValue[1]
|
||
//C := PlaneParamValue[2]
|
||
//D := PlaneParamValue[3]
|
||
//get_region_points (InspectionRegion, Rows, Columns)
|
||
//get_grayval (in_XImageScaled, Rows, Columns, X)
|
||
//get_grayval (in_YImageScaled, Rows, Columns, Y)
|
||
//get_grayval (in_ZImageScaled, Rows, Columns, Z)
|
||
//Dist := A* X + B* Y + C * Z - D
|
||
//if (C < 0)
|
||
//Dist := -Dist
|
||
//endif
|
||
//tuple_sort (Dist, Sorted)
|
||
//******************************3***************************
|
||
//算法寻找高点, 并寻找最高点坐标
|
||
//tuple_greater_elem (Dist, 0, PosGreater)
|
||
//寻找大于0的点坐标,
|
||
//tuple_find (PosGreater, 1, PosIndices)
|
||
//if (|PosIndices|<300 or PosIndices=-1)
|
||
//tuple_less_elem (Dist, 0, NegLess)
|
||
//tuple_find (NegLess, 1, NegIndices)
|
||
//tuple_select (Dist, NegIndices, Selected2)
|
||
//该处需要对点集进行排序,
|
||
//tuple_sort (Selected2, Sorted1)
|
||
//end1 := int(|Sorted1|*0.95)
|
||
//tuple_select (Sorted1, end1, Selected3)
|
||
//tuple_find (Dist, Selected3, Indices)
|
||
//tuple_select (Rows, Indices, out_PaintRows)
|
||
//tuple_select (Columns, Indices, out_PaintColumns)
|
||
//out_Height1 := Selected3
|
||
//elseif (|PosIndices|>300)
|
||
//tuple_greater_elem (Dist, 0, PosGreater)
|
||
//tuple_find (PosGreater, 1, PosIndices)
|
||
//tuple_select (Dist, PosIndices, Selected3)
|
||
//tuple_sort (Selected3, Sorted2)
|
||
//end2 := int(|Sorted2|*0.95)
|
||
//tuple_select (Sorted2, end2, Selected4)
|
||
//tuple_find (Dist, Selected4, Indices)
|
||
//tuple_select (Rows, Indices, out_PaintRows)
|
||
//tuple_select (Columns, Indices, out_PaintColumns)
|
||
//out_Height1 := Selected4
|
||
//endif
|
||
//打印方式,
|
||
//if (1)
|
||
//高点和低点的在该处进行打印.
|
||
//gen_cross_contour_xld (Cross1, out_PaintRows*zoomFactor, out_PaintColumns, 40, rad(45))
|
||
//if (0)
|
||
//gen_cross_contour_xld (Cross11, out_PaintRows, out_PaintColumns, 40, rad(45))
|
||
//dev_display (ImageReduced)
|
||
//dev_display (Cross11)
|
||
//endif
|
||
//get_contour_xld (Cross1, Row4, Col4)
|
||
//gen_region_polygon (Region1, Row4, Col4)
|
||
//dilation_circle (Region1, RegionDilation1, 1)
|
||
//overpaint_region (out_DisplayImage, RegionDilation1, [0,0,255], 'fill')
|
||
//boundary (BaseRegion, RegionBorder2, 'inner')
|
||
//zoom_region (RegionBorder2, ZoomBaseRegion, 1, zoomFactor)
|
||
//overpaint_region (out_DisplayImage, ZoomBaseRegion, [255,255,0], 'fill')
|
||
//endif
|
||
//__________________________________________________________________________________
|
||
|
||
//difference (out_EdgeRegion, in_EdgeRegion, GlueRegion)
|
||
//boundary (GlueRegion, RegionBorder, 'inner')
|
||
//展示用的结果图,
|
||
//zoom_region (RegionBorder, ZoomGlueRegion, 1, zoomFactor)
|
||
//dilation_circle (ZoomGlueRegion, RegionDilation5, 1)
|
||
//overpaint_region (out_DisplayImage, RegionDilation5, [0,255,0], 'fill')
|
||
//boundary (InspectionRegion, RegionBorder1, 'inner')
|
||
//zoom_region (RegionBorder1, ZoomGlueRegion, 1, zoomFactor)
|
||
//overpaint_region (out_DisplayImage, ZoomGlueRegion, [255,0,0], 'fill')
|
||
|
||
//stop ()
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
//zoom_image_factor (in_ZImageScaled, ImageZoomed, 1, zoomFactor, 'constant')
|
||
//scale_image_max (ImageZoomed, ImageScaleMax1)
|
||
//copy_image (ImageScaleMax1, Image4)
|
||
//copy_image (ImageScaleMax1, Image5)
|
||
//copy_image (ImageScaleMax1, Image6)
|
||
//compose3 (Image4, Image5, Image6, out_DisplayImage)
|
||
(*hv_out_Flag) = 2;
|
||
(*hv_out_Ngtails) = "算法执行错误";
|
||
}
|
||
|
||
return;
|
||
}
|
||
|
||
void Cal_Height1(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_InspectionRegion, HTuple hv_in_PlaneParamValue, HTuple* hv_out_PaintRows,
|
||
HTuple* hv_out_PaintColumns, HTuple* hv_out_Height, HTuple* hv_out_Flag)
|
||
{
|
||
|
||
// Local iconic variables
|
||
|
||
// Local control variables
|
||
HTuple hv_out_Ngtails, hv_A, hv_B, hv_C, hv_D;
|
||
HTuple hv_Rows, hv_Columns, hv_X, hv_Y, hv_Z, hv_Dist;
|
||
HTuple hv_Sorted, hv_PosGreater, hv_PosIndices, hv_NegLess;
|
||
HTuple hv_NegIndices, hv_Selected2, hv_Sorted1, hv_end1;
|
||
HTuple hv_Selected3, hv_Indices, hv_Sorted2, hv_Selected4;
|
||
HTuple hv_Exception;
|
||
|
||
|
||
|
||
|
||
|
||
|
||
(*hv_out_Height) = -99;
|
||
(*hv_out_Flag) = 0;
|
||
hv_out_Ngtails = "ok";
|
||
try
|
||
{
|
||
hv_A = ((const HTuple&)hv_in_PlaneParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_in_PlaneParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_in_PlaneParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_in_PlaneParamValue)[3];
|
||
GetRegionPoints(ho_in_InspectionRegion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_in_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_in_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_in_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = -hv_Dist;
|
||
}
|
||
TupleSort(hv_Dist, &hv_Sorted);
|
||
//******************************3***************************
|
||
//算法寻找高点, 并寻找最高点坐标
|
||
TupleGreaterElem(hv_Dist, 0, &hv_PosGreater);
|
||
//寻找大于0的点坐标,
|
||
TupleFind(hv_PosGreater, 1, &hv_PosIndices);
|
||
if (0 != (HTuple((hv_PosIndices.TupleLength()) < 100).TupleOr(hv_PosIndices == -1)))
|
||
{
|
||
TupleLessElem(hv_Dist, 0, &hv_NegLess);
|
||
TupleFind(hv_NegLess, 1, &hv_NegIndices);
|
||
TupleSelect(hv_Dist, hv_NegIndices, &hv_Selected2);
|
||
//该处需要对点集进行排序,
|
||
TupleSort(hv_Selected2, &hv_Sorted1);
|
||
hv_end1 = HTuple((hv_Sorted1.TupleLength()) * 0.95).TupleInt();
|
||
TupleSelect(hv_Sorted1, hv_end1, &hv_Selected3);
|
||
TupleFind(hv_Dist, hv_Selected3, &hv_Indices);
|
||
TupleSelect(hv_Rows, hv_Indices, &(*hv_out_PaintRows));
|
||
TupleSelect(hv_Columns, hv_Indices, &(*hv_out_PaintColumns));
|
||
(*hv_out_Height) = hv_Selected3;
|
||
}
|
||
else if (0 != ((hv_PosIndices.TupleLength()) > 100))
|
||
{
|
||
TupleGreaterElem(hv_Dist, 0, &hv_PosGreater);
|
||
TupleFind(hv_PosGreater, 1, &hv_PosIndices);
|
||
TupleSelect(hv_Dist, hv_PosIndices, &hv_Selected3);
|
||
//该处需要对点集进行排序,
|
||
TupleSort(hv_Selected3, &hv_Sorted2);
|
||
//end2 := int(|Sorted2|*0.99)
|
||
TupleSelect(hv_Sorted2, (hv_Sorted2.TupleLength()) - 10, &hv_Selected4);
|
||
TupleFind(hv_Dist, hv_Selected4, &hv_Indices);
|
||
TupleSelect(hv_Rows, hv_Indices, &(*hv_out_PaintRows));
|
||
TupleSelect(hv_Columns, hv_Indices, &(*hv_out_PaintColumns));
|
||
(*hv_out_Height) = hv_Selected4;
|
||
}
|
||
if (0 != ((*hv_out_Height) != -99))
|
||
{
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
hv_out_Ngtails = "算法错误";
|
||
}
|
||
return;
|
||
}
|
||
|
||
void Cal_Height2(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_InspectionRegion, HObject ho_in_ProductRegion, HTuple hv_in_PlaneParamValue,
|
||
HTuple* hv_out_PaintRows, HTuple* hv_out_PaintColumns, HTuple* hv_out_Height,
|
||
HTuple* hv_out_Flag)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_RegionErosion, ho_RegionDifference;
|
||
HObject ho_RegionTrans, ho_RegionErosion1, ho_InspectionRegion;
|
||
|
||
// Local control variables
|
||
HTuple hv_out_Ngtails, hv_A, hv_B, hv_C, hv_D;
|
||
HTuple hv_Rows, hv_Columns, hv_X, hv_Y, hv_Z, hv_Dist;
|
||
HTuple hv_Sorted, hv_PosGreater, hv_PosIndices, hv_NegLess;
|
||
HTuple hv_NegIndices, hv_Selected2, hv_Sorted1, hv_end1;
|
||
HTuple hv_Selected3, hv_Indices, hv_Sorted2, hv_end2, hv_Selected4;
|
||
HTuple hv_Exception;
|
||
|
||
|
||
|
||
|
||
|
||
|
||
(*hv_out_Height) = -99;
|
||
(*hv_out_Flag) = 0;
|
||
hv_out_Ngtails = "ok";
|
||
try
|
||
{
|
||
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
|
||
//fill_up (in_InspectionRegion, RegionFillUp)
|
||
//opening_circle (RegionFillUp, RegionOpening, 10.5)
|
||
//dev_display (in_ZImageScaled)
|
||
//dev_display (RegionOpening)
|
||
//connection (RegionOpening, ConnectedRegions)
|
||
//select_shape_std (ConnectedRegions, SelectedRegions, 'max_area', 70)
|
||
//dilation_circle (SelectedRegions, RegionDilation, 35)
|
||
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
|
||
ErosionRectangle1(ho_in_InspectionRegion, &ho_RegionErosion, 10, 70);
|
||
Difference(ho_in_InspectionRegion, ho_RegionErosion, &ho_RegionDifference);
|
||
ShapeTrans(ho_RegionDifference, &ho_RegionTrans, "rectangle1");
|
||
ErosionRectangle1(ho_RegionTrans, &ho_RegionErosion1, 350, 1);
|
||
Intersection(ho_RegionDifference, ho_RegionErosion1, &ho_InspectionRegion);
|
||
|
||
//dev_display (in_ZImageScaled)
|
||
//dev_display (RegionErosion1)
|
||
//difference (in_ProductRegion, RegionDilation, InspectionRegion)
|
||
if (HDevWindowStack::IsOpen())
|
||
DispObj(ho_in_ZImageScaled, HDevWindowStack::GetActive());
|
||
if (HDevWindowStack::IsOpen())
|
||
DispObj(ho_InspectionRegion, HDevWindowStack::GetActive());
|
||
|
||
hv_A = ((const HTuple&)hv_in_PlaneParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_in_PlaneParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_in_PlaneParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_in_PlaneParamValue)[3];
|
||
GetRegionPoints(ho_InspectionRegion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_in_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_in_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_in_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = -hv_Dist;
|
||
}
|
||
TupleSort(hv_Dist, &hv_Sorted);
|
||
//******************************3***************************
|
||
//算法寻找高点, 并寻找最高点坐标
|
||
TupleGreaterElem(hv_Dist, 0, &hv_PosGreater);
|
||
//寻找大于0的点坐标,
|
||
TupleFind(hv_PosGreater, 1, &hv_PosIndices);
|
||
if (0 != (HTuple((hv_PosIndices.TupleLength()) < 300).TupleOr(hv_PosIndices == -1)))
|
||
{
|
||
TupleLessElem(hv_Dist, 0, &hv_NegLess);
|
||
TupleFind(hv_NegLess, 1, &hv_NegIndices);
|
||
TupleSelect(hv_Dist, hv_NegIndices, &hv_Selected2);
|
||
//该处需要对点集进行排序,
|
||
TupleSort(hv_Selected2, &hv_Sorted1);
|
||
hv_end1 = HTuple((hv_Sorted1.TupleLength()) * 0.95).TupleInt();
|
||
TupleSelect(hv_Sorted1, hv_end1, &hv_Selected3);
|
||
TupleFind(hv_Dist, hv_Selected3, &hv_Indices);
|
||
TupleSelect(hv_Rows, hv_Indices, &(*hv_out_PaintRows));
|
||
TupleSelect(hv_Columns, hv_Indices, &(*hv_out_PaintColumns));
|
||
(*hv_out_Height) = hv_Selected3;
|
||
}
|
||
else if (0 != ((hv_PosIndices.TupleLength()) > 300))
|
||
{
|
||
TupleGreaterElem(hv_Dist, 0, &hv_PosGreater);
|
||
TupleFind(hv_PosGreater, 1, &hv_PosIndices);
|
||
TupleSelect(hv_Dist, hv_PosIndices, &hv_Selected3);
|
||
TupleSort(hv_Selected3, &hv_Sorted2);
|
||
hv_end2 = HTuple((hv_Sorted2.TupleLength()) * 0.7).TupleInt();
|
||
TupleSelect(hv_Sorted2, hv_end2, &hv_Selected4);
|
||
TupleFind(hv_Dist, hv_Selected4, &hv_Indices);
|
||
TupleSelect(hv_Rows, hv_Indices, &(*hv_out_PaintRows));
|
||
TupleSelect(hv_Columns, hv_Indices, &(*hv_out_PaintColumns));
|
||
(*hv_out_Height) = hv_Selected4;
|
||
}
|
||
if (0 != ((*hv_out_Height) != -99))
|
||
{
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
hv_out_Ngtails = "算法错误";
|
||
}
|
||
return;
|
||
}
|
||
|
||
void Cal_Height3(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_innerEdge, HObject ho_in_outerEdge, HObject ho_in_HYRegion, HTuple* hv_out_Height,
|
||
HTuple* hv_out_Flag)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_RegionDifference, ho_GlueRegion, ho_RegionErosion;
|
||
HObject ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3;
|
||
|
||
// Local control variables
|
||
HTuple hv_out_Ngtails, hv_ObjectModel3D, hv_ParFitting;
|
||
HTuple hv_ValFitting, hv_ObjectModelPlane, hv_PlaneParamValue;
|
||
HTuple hv_A, hv_B, hv_C, hv_D, hv_Rows, hv_Columns, hv_X;
|
||
HTuple hv_Y, hv_Z, hv_Dist, hv_Sorted, hv_start1, hv_end1;
|
||
HTuple hv_Selected, hv_Max, hv_Exception;
|
||
|
||
|
||
(*hv_out_Height) = -99;
|
||
(*hv_out_Flag) = 0;
|
||
hv_out_Ngtails = "ok";
|
||
try
|
||
{
|
||
Difference(ho_in_innerEdge, ho_in_HYRegion, &ho_RegionDifference);
|
||
Difference(ho_in_outerEdge, ho_in_innerEdge, &ho_GlueRegion);
|
||
ErosionCircle(ho_RegionDifference, &ho_RegionErosion, 10.5);
|
||
ReduceDomain(ho_in_XImageScaled, ho_RegionErosion, &ho_ImageReduced1);
|
||
ReduceDomain(ho_in_YImageScaled, ho_RegionErosion, &ho_ImageReduced2);
|
||
ReduceDomain(ho_in_ZImageScaled, ho_RegionErosion, &ho_ImageReduced3);
|
||
XyzToObjectModel3d(ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3, &hv_ObjectModel3D);
|
||
//拟合平面,
|
||
hv_ParFitting.Clear();
|
||
hv_ParFitting[0] = "primitive_type";
|
||
hv_ParFitting[1] = "fitting_algorithm";
|
||
hv_ParFitting[2] = "output_xyz_mapping";
|
||
hv_ValFitting.Clear();
|
||
hv_ValFitting[0] = "plane";
|
||
hv_ValFitting[1] = "least_squares_huber";
|
||
hv_ValFitting[2] = "false";
|
||
//利用产品的边缘拟合平面,
|
||
FitPrimitivesObjectModel3d(hv_ObjectModel3D, hv_ParFitting, hv_ValFitting, &hv_ObjectModelPlane);
|
||
GetObjectModel3dParams(hv_ObjectModelPlane, "primitive_parameter", &hv_PlaneParamValue);
|
||
hv_A = ((const HTuple&)hv_PlaneParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_PlaneParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_PlaneParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_PlaneParamValue)[3];
|
||
GetRegionPoints(ho_GlueRegion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_in_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_in_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_in_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = -hv_Dist;
|
||
}
|
||
TupleSort(hv_Dist, &hv_Sorted);
|
||
hv_start1 = HTuple((hv_Sorted.TupleLength()) * 0.02).TupleInt();
|
||
hv_end1 = HTuple((hv_Sorted.TupleLength()) * 0.98).TupleInt();
|
||
TupleSelect(hv_Sorted, HTuple::TupleGenSequence(hv_start1, hv_end1, 1), &hv_Selected);
|
||
TupleMax(hv_Selected, &hv_Max);
|
||
(*hv_out_Height) = hv_Max;
|
||
if (0 != ((*hv_out_Height) != -99))
|
||
{
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
hv_out_Ngtails = "算法错误";
|
||
}
|
||
|
||
return;
|
||
}
|
||
|
||
|
||
void Get_InGlueRegion(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_ZeroRegion, HObject* ho_in_EdgeRegion, HTuple hv_in_Height, HTuple hv_in_PlaneParamValue,
|
||
HTuple hv_in_Direc, HTuple* hv_out_Flag, HTuple* hv_out_Ngtails)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_RegionFillUp, ho_Tempregion, ho_Region2;
|
||
HObject ho_RegionOpening, ho_ConnectedRegions3, ho_Regions;
|
||
HObject ho_Out_ROI, ho_ConnectedRegions4, ho_SelectedRegions3;
|
||
HObject ho_closingRegion;
|
||
|
||
// Local control variables
|
||
HTuple hv_A, hv_B, hv_C, hv_D, hv_Rows, hv_Columns;
|
||
HTuple hv_X, hv_Y, hv_Z, hv_Dist, hv_Com_Tuple, hv_Prod_X;
|
||
HTuple hv_Prod_Y, hv_HeightOut, hv_Com_Tuple2, hv_Com_Tuple1;
|
||
HTuple hv_And, hv_Number, hv_Area, hv_Row, hv_Column, hv_Exception;
|
||
|
||
|
||
|
||
|
||
|
||
|
||
(*hv_out_Flag) = 0;
|
||
(*hv_out_Ngtails) = "ok";
|
||
try
|
||
{
|
||
FillUp(ho_in_ZeroRegion, &ho_RegionFillUp);
|
||
Difference(ho_RegionFillUp, ho_in_ZeroRegion, &ho_Tempregion);
|
||
hv_A = ((const HTuple&)hv_in_PlaneParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_in_PlaneParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_in_PlaneParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_in_PlaneParamValue)[3];
|
||
|
||
GetRegionPoints(ho_Tempregion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_in_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_in_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_in_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = hv_Dist * -1;
|
||
}
|
||
if (0 != (hv_in_Direc == HTuple("Pos")))
|
||
{
|
||
TupleGreaterElem(hv_Dist, hv_in_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
else if (0 != (hv_in_Direc == HTuple("Neg")))
|
||
{
|
||
hv_HeightOut = hv_HeightOut * -1;
|
||
TupleLessElem(hv_Dist, hv_in_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
else if (0 != (hv_in_Direc == HTuple("all")))
|
||
{
|
||
TupleLessElem(hv_Dist, hv_in_Height, &hv_Com_Tuple2);
|
||
TupleGreaterElem(hv_Dist, -hv_in_Height, &hv_Com_Tuple1);
|
||
TupleAnd(hv_Com_Tuple1, hv_Com_Tuple2, &hv_And);
|
||
TupleMult(hv_Rows, hv_And, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_And, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
ClosingCircle(ho_Out_ROI, &ho_RegionOpening, 4.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions4);
|
||
SelectShape(ho_ConnectedRegions4, &ho_SelectedRegions3, "max_diameter", "and",
|
||
450, 900);
|
||
CountObj(ho_SelectedRegions3, &hv_Number);
|
||
//if (Number>1)
|
||
//smallest_rectangle1 (out_EdgeRegion, Row11, Column11, Row21, Column21)
|
||
//select_shape (SelectedRegions3, SelectedRegions1, ['row','column'], 'and', [Row11,Column11], [Row21,Column21])
|
||
//SelectedRegions3 := SelectedRegions1
|
||
//endif
|
||
ClosingCircle(ho_SelectedRegions3, &ho_closingRegion, 20);
|
||
FillUp(ho_closingRegion, &(*ho_in_EdgeRegion));
|
||
AreaCenter((*ho_in_EdgeRegion), &hv_Area, &hv_Row, &hv_Column);
|
||
if (0 != (hv_Area > 0))
|
||
{
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
(*hv_out_Ngtails) = "算法错误";
|
||
}
|
||
return;
|
||
}
|
||
|
||
|
||
void Get_OutGlueRegion(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_ZeroRegion, HObject* ho_out_GlueRegion, HTuple hv_in_Height, HTuple hv_in_Direc,
|
||
HTuple hv_in_PlaneParamValue, HTuple* hv_out_Flag, HTuple* hv_out_Ngtails)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_RegionFillUp, ho_Tempregion, ho_Region2;
|
||
HObject ho_RegionOpening, ho_ConnectedRegions3, ho_Regions;
|
||
HObject ho_Out_ROI, ho_SelectedRegions2, ho_RegionFillUp1;
|
||
HObject ho_RegionDifference2, ho_EdgeRegion, ho_ConnectedRegions1;
|
||
|
||
// Local control variables
|
||
HTuple hv_A, hv_B, hv_C, hv_D, hv_Rows, hv_Columns;
|
||
HTuple hv_X, hv_Y, hv_Z, hv_Dist, hv_Com_Tuple, hv_Prod_X;
|
||
HTuple hv_Prod_Y, hv_Com_Tuple2, hv_Com_Tuple1, hv_And;
|
||
HTuple hv_Area, hv_Row, hv_Column, hv_Exception;
|
||
|
||
|
||
|
||
|
||
|
||
|
||
(*hv_out_Flag) = 0;
|
||
(*hv_out_Ngtails) = "ok";
|
||
try
|
||
{
|
||
FillUp(ho_in_ZeroRegion, &ho_RegionFillUp);
|
||
Difference(ho_RegionFillUp, ho_in_ZeroRegion, &ho_Tempregion);
|
||
//dev_display (in_XIageScaled)
|
||
if (HDevWindowStack::IsOpen())
|
||
DispObj(ho_Tempregion, HDevWindowStack::GetActive());
|
||
hv_A = ((const HTuple&)hv_in_PlaneParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_in_PlaneParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_in_PlaneParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_in_PlaneParamValue)[3];
|
||
GetRegionPoints(ho_Tempregion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_in_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_in_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_in_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = hv_Dist * -1;
|
||
}
|
||
if (0 != (hv_in_Direc == HTuple("Pos")))
|
||
{
|
||
TupleGreaterElem(hv_Dist, hv_in_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
else if (0 != (hv_in_Direc == HTuple("Neg")))
|
||
{
|
||
//Height := Height*(-1)
|
||
TupleLessElem(hv_Dist, -hv_in_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
else if (0 != (hv_in_Direc == HTuple("all")))
|
||
{
|
||
TupleLessElem(hv_Dist, hv_in_Height, &hv_Com_Tuple2);
|
||
TupleGreaterElem(hv_Dist, -hv_in_Height, &hv_Com_Tuple1);
|
||
TupleAnd(hv_Com_Tuple1, hv_Com_Tuple2, &hv_And);
|
||
TupleMult(hv_Rows, hv_And, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_And, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
|
||
|
||
Connection(ho_Out_ROI, &ho_ConnectedRegions3);
|
||
SelectShapeStd(ho_ConnectedRegions3, &ho_SelectedRegions2, "max_area", 70);
|
||
FillUp(ho_SelectedRegions2, &ho_RegionFillUp1);
|
||
Difference(ho_RegionFillUp1, ho_SelectedRegions2, &ho_RegionDifference2);
|
||
OpeningCircle(ho_RegionDifference2, &ho_EdgeRegion, 5.5);
|
||
Connection(ho_EdgeRegion, &ho_ConnectedRegions1);
|
||
SelectShapeStd(ho_ConnectedRegions1, &(*ho_out_GlueRegion), "max_area", 70);
|
||
AreaCenter((*ho_out_GlueRegion), &hv_Area, &hv_Row, &hv_Column);
|
||
if (0 != (hv_Area > 0))
|
||
{
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
(*hv_out_Flag) = 0;
|
||
(*hv_out_Ngtails) = "算法错误";
|
||
}
|
||
return;
|
||
}
|
||
|
||
namespace HDevExportCpp
|
||
{
|
||
// Parallel execution wrapper for Get_OutGlueRegion(...)
|
||
static void* _hcppthread_Get_OutGlueRegion(void* hcthread)
|
||
{
|
||
// +++ define thread context for this procedure
|
||
HDevThread* hcppthread = (HDevThread*)hcthread;
|
||
try
|
||
{
|
||
// Input parameters
|
||
const HObject& cbho_in_XImageScaled = hcppthread->GetInputIconicParamObject(0);
|
||
const HObject& cbho_in_YImageScaled = hcppthread->GetInputIconicParamObject(1);
|
||
const HObject& cbho_in_ZImageScaled = hcppthread->GetInputIconicParamObject(2);
|
||
const HObject& cbho_in_ZeroRegion = hcppthread->GetInputIconicParamObject(3);
|
||
const HTuple& cbhv_in_Height = hcppthread->GetInputCtrlParamTuple(4);
|
||
const HTuple& cbhv_in_Direc = hcppthread->GetInputCtrlParamTuple(5);
|
||
const HTuple& cbhv_in_PlaneParamValue = hcppthread->GetInputCtrlParamTuple(6);
|
||
|
||
// Output parameters
|
||
HObject cbho_out_GlueRegion;
|
||
HTuple cbhv_out_Flag;
|
||
HTuple cbhv_out_Ngtails;
|
||
|
||
// Call Get_OutGlueRegion
|
||
Get_OutGlueRegion(cbho_in_XImageScaled, cbho_in_YImageScaled, cbho_in_ZImageScaled,
|
||
cbho_in_ZeroRegion, &cbho_out_GlueRegion, cbhv_in_Height, cbhv_in_Direc,
|
||
cbhv_in_PlaneParamValue, &cbhv_out_Flag, &cbhv_out_Ngtails);
|
||
|
||
// Store output parameters in thread object
|
||
hcppthread->StoreOutputIconicParamObject(0, cbho_out_GlueRegion);
|
||
hcppthread->StoreOutputCtrlParamTuple(1, cbhv_out_Flag);
|
||
hcppthread->StoreOutputCtrlParamTuple(2, cbhv_out_Ngtails);
|
||
|
||
// Reduce reference counter of thread object
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
|
||
}
|
||
catch (HException& exc)
|
||
{
|
||
// No exceptions may be raised from stub in parallel case,
|
||
// so we need to store this information prior to cleanup
|
||
bool is_direct_call = hcppthread->IsDirectCall();
|
||
// Attempt to clean up in error case, too
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
// Propagate exception if called directly
|
||
if (is_direct_call)
|
||
throw exc;
|
||
}
|
||
return NULL;
|
||
}
|
||
|
||
// Parallel execution wrapper for Get_InGlueRegion(...)
|
||
static void* _hcppthread_Get_InGlueRegion(void* hcthread)
|
||
{
|
||
// +++ define thread context for this procedure
|
||
HDevThread* hcppthread = (HDevThread*)hcthread;
|
||
try
|
||
{
|
||
// Input parameters
|
||
const HObject& cbho_in_XImageScaled = hcppthread->GetInputIconicParamObject(0);
|
||
const HObject& cbho_in_YImageScaled = hcppthread->GetInputIconicParamObject(1);
|
||
const HObject& cbho_in_ZImageScaled = hcppthread->GetInputIconicParamObject(2);
|
||
const HObject& cbho_in_ZeroRegion = hcppthread->GetInputIconicParamObject(3);
|
||
const HTuple& cbhv_in_Height = hcppthread->GetInputCtrlParamTuple(4);
|
||
const HTuple& cbhv_in_PlaneParamValue = hcppthread->GetInputCtrlParamTuple(5);
|
||
const HTuple& cbhv_in_Direc = hcppthread->GetInputCtrlParamTuple(6);
|
||
|
||
// Output parameters
|
||
HObject cbho_in_EdgeRegion;
|
||
HTuple cbhv_out_Flag;
|
||
HTuple cbhv_out_Ngtails;
|
||
|
||
// Call Get_InGlueRegion
|
||
Get_InGlueRegion(cbho_in_XImageScaled, cbho_in_YImageScaled, cbho_in_ZImageScaled,
|
||
cbho_in_ZeroRegion, &cbho_in_EdgeRegion, cbhv_in_Height, cbhv_in_PlaneParamValue,
|
||
cbhv_in_Direc, &cbhv_out_Flag, &cbhv_out_Ngtails);
|
||
|
||
// Store output parameters in thread object
|
||
hcppthread->StoreOutputIconicParamObject(0, cbho_in_EdgeRegion);
|
||
hcppthread->StoreOutputCtrlParamTuple(1, cbhv_out_Flag);
|
||
hcppthread->StoreOutputCtrlParamTuple(2, cbhv_out_Ngtails);
|
||
|
||
// Reduce reference counter of thread object
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
|
||
}
|
||
catch (HException& exc)
|
||
{
|
||
// No exceptions may be raised from stub in parallel case,
|
||
// so we need to store this information prior to cleanup
|
||
bool is_direct_call = hcppthread->IsDirectCall();
|
||
// Attempt to clean up in error case, too
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
// Propagate exception if called directly
|
||
if (is_direct_call)
|
||
throw exc;
|
||
}
|
||
return NULL;
|
||
}
|
||
|
||
// Parallel execution wrapper for Cal_Height1(...)
|
||
static void* _hcppthread_Cal_Height1(void* hcthread)
|
||
{
|
||
// +++ define thread context for this procedure
|
||
HDevThread* hcppthread = (HDevThread*)hcthread;
|
||
try
|
||
{
|
||
// Input parameters
|
||
const HObject& cbho_in_XImageScaled = hcppthread->GetInputIconicParamObject(0);
|
||
const HObject& cbho_in_YImageScaled = hcppthread->GetInputIconicParamObject(1);
|
||
const HObject& cbho_in_ZImageScaled = hcppthread->GetInputIconicParamObject(2);
|
||
const HObject& cbho_in_InspectionRegion = hcppthread->GetInputIconicParamObject(3);
|
||
const HTuple& cbhv_in_PlaneParamValue = hcppthread->GetInputCtrlParamTuple(4);
|
||
|
||
// Output parameters
|
||
HTuple cbhv_out_PaintRows;
|
||
HTuple cbhv_out_PaintColumns;
|
||
HTuple cbhv_out_Height;
|
||
HTuple cbhv_out_Flag;
|
||
|
||
// Call Cal_Height1
|
||
Cal_Height1(cbho_in_XImageScaled, cbho_in_YImageScaled, cbho_in_ZImageScaled,
|
||
cbho_in_InspectionRegion, cbhv_in_PlaneParamValue, &cbhv_out_PaintRows, &cbhv_out_PaintColumns,
|
||
&cbhv_out_Height, &cbhv_out_Flag);
|
||
|
||
// Store output parameters in thread object
|
||
hcppthread->StoreOutputCtrlParamTuple(0, cbhv_out_PaintRows);
|
||
hcppthread->StoreOutputCtrlParamTuple(1, cbhv_out_PaintColumns);
|
||
hcppthread->StoreOutputCtrlParamTuple(2, cbhv_out_Height);
|
||
hcppthread->StoreOutputCtrlParamTuple(3, cbhv_out_Flag);
|
||
|
||
// Reduce reference counter of thread object
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
|
||
}
|
||
catch (HException& exc)
|
||
{
|
||
// No exceptions may be raised from stub in parallel case,
|
||
// so we need to store this information prior to cleanup
|
||
bool is_direct_call = hcppthread->IsDirectCall();
|
||
// Attempt to clean up in error case, too
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
// Propagate exception if called directly
|
||
if (is_direct_call)
|
||
throw exc;
|
||
}
|
||
return NULL;
|
||
}
|
||
|
||
// Parallel execution wrapper for Cal_Height2(...)
|
||
static void* _hcppthread_Cal_Height2(void* hcthread)
|
||
{
|
||
// +++ define thread context for this procedure
|
||
HDevThread* hcppthread = (HDevThread*)hcthread;
|
||
try
|
||
{
|
||
// Input parameters
|
||
const HObject& cbho_in_XImageScaled = hcppthread->GetInputIconicParamObject(0);
|
||
const HObject& cbho_in_YImageScaled = hcppthread->GetInputIconicParamObject(1);
|
||
const HObject& cbho_in_ZImageScaled = hcppthread->GetInputIconicParamObject(2);
|
||
const HObject& cbho_in_InspectionRegion = hcppthread->GetInputIconicParamObject(3);
|
||
const HObject& cbho_in_ProductRegion = hcppthread->GetInputIconicParamObject(4);
|
||
const HTuple& cbhv_in_PlaneParamValue = hcppthread->GetInputCtrlParamTuple(5);
|
||
|
||
// Output parameters
|
||
HTuple cbhv_out_PaintRows;
|
||
HTuple cbhv_out_PaintColumns;
|
||
HTuple cbhv_out_Height;
|
||
HTuple cbhv_out_Flag;
|
||
|
||
// Call Cal_Height2
|
||
Cal_Height2(cbho_in_XImageScaled, cbho_in_YImageScaled, cbho_in_ZImageScaled,
|
||
cbho_in_InspectionRegion, cbho_in_ProductRegion, cbhv_in_PlaneParamValue,
|
||
&cbhv_out_PaintRows, &cbhv_out_PaintColumns, &cbhv_out_Height, &cbhv_out_Flag);
|
||
|
||
// Store output parameters in thread object
|
||
hcppthread->StoreOutputCtrlParamTuple(0, cbhv_out_PaintRows);
|
||
hcppthread->StoreOutputCtrlParamTuple(1, cbhv_out_PaintColumns);
|
||
hcppthread->StoreOutputCtrlParamTuple(2, cbhv_out_Height);
|
||
hcppthread->StoreOutputCtrlParamTuple(3, cbhv_out_Flag);
|
||
|
||
// Reduce reference counter of thread object
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
|
||
}
|
||
catch (HException& exc)
|
||
{
|
||
// No exceptions may be raised from stub in parallel case,
|
||
// so we need to store this information prior to cleanup
|
||
bool is_direct_call = hcppthread->IsDirectCall();
|
||
// Attempt to clean up in error case, too
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
// Propagate exception if called directly
|
||
if (is_direct_call)
|
||
throw exc;
|
||
}
|
||
return NULL;
|
||
}
|
||
|
||
// Parallel execution wrapper for Cal_Height3(...)
|
||
static void* _hcppthread_Cal_Height3(void* hcthread)
|
||
{
|
||
// +++ define thread context for this procedure
|
||
HDevThread* hcppthread = (HDevThread*)hcthread;
|
||
try
|
||
{
|
||
// Input parameters
|
||
const HObject& cbho_in_XImageScaled = hcppthread->GetInputIconicParamObject(0);
|
||
const HObject& cbho_in_YImageScaled = hcppthread->GetInputIconicParamObject(1);
|
||
const HObject& cbho_in_ZImageScaled = hcppthread->GetInputIconicParamObject(2);
|
||
const HObject& cbho_in_innerEdge = hcppthread->GetInputIconicParamObject(3);
|
||
const HObject& cbho_in_outerEdge = hcppthread->GetInputIconicParamObject(4);
|
||
const HObject& cbho_in_HYRegion = hcppthread->GetInputIconicParamObject(5);
|
||
|
||
// Output parameters
|
||
HTuple cbhv_out_Height;
|
||
HTuple cbhv_out_Flag;
|
||
|
||
// Call Cal_Height3
|
||
Cal_Height3(cbho_in_XImageScaled, cbho_in_YImageScaled, cbho_in_ZImageScaled,
|
||
cbho_in_innerEdge, cbho_in_outerEdge, cbho_in_HYRegion, &cbhv_out_Height,
|
||
&cbhv_out_Flag);
|
||
|
||
// Store output parameters in thread object
|
||
hcppthread->StoreOutputCtrlParamTuple(0, cbhv_out_Height);
|
||
hcppthread->StoreOutputCtrlParamTuple(1, cbhv_out_Flag);
|
||
|
||
// Reduce reference counter of thread object
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
|
||
}
|
||
catch (HException& exc)
|
||
{
|
||
// No exceptions may be raised from stub in parallel case,
|
||
// so we need to store this information prior to cleanup
|
||
bool is_direct_call = hcppthread->IsDirectCall();
|
||
// Attempt to clean up in error case, too
|
||
hcppthread->Exit();
|
||
delete hcppthread;
|
||
// Propagate exception if called directly
|
||
if (is_direct_call)
|
||
throw exc;
|
||
}
|
||
return NULL;
|
||
}
|
||
|
||
}
|
||
|
||
|
||
|
||
#endif
|
||
|
||
void Cal_Glue_Height(HObject ho_in_ImageH, HTuple hv_in_xResolution, HTuple hv_in_yResolution,
|
||
HTuple hv_in_zResolution, HTuple* hv_out_Height1, HTuple* hv_out_Height2, HTuple* hv_out_Point,
|
||
HTuple* hv_out_Flag, HTuple* hv_out_Ngtails)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_ImageConverted, ho_YImageSurface;
|
||
HObject ho_XImageSurface, ho_in_XImageScaled, ho_in_YImageScaled;
|
||
HObject ho_in_ZImageScaled, ho_Regions, ho_Domain, ho_ProductRegion;
|
||
HObject ho_ImageReduced, ho_RegionClosing, ho_RegionFillUp3;
|
||
HObject ho_TempRegion, ho_RegionErosion3, ho_ZeroRegion;
|
||
HObject ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3;
|
||
HObject ho_in_ZeroRegion1, ho_out_GlueRegion, ho_in_ZeroRegion2;
|
||
HObject ho_in_EdgeRegion, ho_out_EdgeRegion, ho_InspectionRegion;
|
||
HObject ho_Ellipse, ho_RegionDilation2, ho_in_InspectionRegion3;
|
||
HObject ho_in_InspectionRegion4, ho_in_ProductRegion, ho_RegionDifference;
|
||
HObject ho_Partitioned, ho_SortedRegions, ho_ObjectSelected;
|
||
HObject ho_RegionTrans, ho_Region, ho_Cross, ho_RegionIntersection;
|
||
HObject ho_in_outerEdge, ho_in_innerEdge, ho_in_HYRegion;
|
||
|
||
// Local control variables
|
||
HTuple hv_Debug, hv_Type, hv_Width2, hv_Height2;
|
||
HTuple hv_ObjectModel3D, hv_ParFitting, hv_ValFitting;
|
||
HTuple hv_ObjectModelPlane, hv_PlaneParamValue, hv_in_Direc1;
|
||
HTuple hv_in_Height1, hv_in_PlaneParamValue1, hv_out_Flag1;
|
||
HTuple hv_out_Ngtails1, hv_in_Direc2, hv_in_Height2, hv_in_PlaneParamValue2;
|
||
HTuple hv_out_Flag2, hv_out_Ngtails2, hv_Area2, hv_Row2;
|
||
HTuple hv_Column2, hv_Area3, hv_Row3, hv_Column3, hv_Area5;
|
||
HTuple hv_Row5, hv_Column5, hv_in_PlaneParamValue3, hv_out_PaintRows1;
|
||
HTuple hv_out_PaintColumns1, hv_out_Height3, hv_out_Flag3;
|
||
HTuple hv_in_PlaneParamValue4, hv_out_PaintRows2, hv_out_PaintColumns2;
|
||
HTuple hv_out_Height4, hv_out_Flag4, hv_Value, hv_Area4;
|
||
HTuple hv_Row4, hv_Column4, hv_out_Height, hv_out_Flag5;
|
||
HTuple hv_Exception;
|
||
|
||
|
||
//**********************************************************************
|
||
//Function Name: Cal_Glue_Height
|
||
//Author:
|
||
//Description: 基于边缘基准面,计算点胶的高度(mm)
|
||
//Input: in_ImageH, 深度图像(tif),
|
||
// in_xResolution, X向精度(mm/pix)
|
||
// in_yResolution, y向精度(mm/pix)
|
||
// in_zResolution, z向精度(mm/pix)
|
||
|
||
//output： out_Height, 点胶高度(mm), 一般情况下,胶的高度高于电池边缘面的区域, 才有高度输出.
|
||
// out_Point: 胶的高点和基准面的高点坐标(y,x)
|
||
// out_Flag, 算法执行的标志位; 1, 算法执行成功 2, 算法执行错误
|
||
// out_Ngtails, 算法执行信息,
|
||
//verion change log: 胡汉兵 2024-06-15 V1.1 Create new function.
|
||
// 胡汉兵 2024-06-20 V1.2 软件端执行结果异常, 算法直接强行赋值为0.
|
||
// 胡汉兵 2024-07-04 V1.3 现场输出电池的最高点位置,便于客户基于当前点位进行测量.
|
||
// 胡汉兵 2024-07-09 V1.4 使用原始图像进行高度计算,
|
||
// 胡汉兵 2024-07-16 V1.5 保护, 防止程序崩溃时, 无结果图输出.
|
||
// 胡汉兵 2024-10-21 V1.6 新的图像, 代码进行调整,
|
||
//**********************************************************************
|
||
hv_Debug = 1;
|
||
(*hv_out_Height1) = -99;
|
||
(*hv_out_Height2) = -99;
|
||
(*hv_out_Flag) = 2;
|
||
(*hv_out_Ngtails) = "OK";
|
||
(*hv_out_Point) = HTuple();
|
||
try
|
||
{
|
||
if (HDevWindowStack::IsOpen())
|
||
SetDraw(HDevWindowStack::GetActive(), "margin");
|
||
GetImageType(ho_in_ImageH, &hv_Type);
|
||
if (0 != (hv_Type != HTuple("real")))
|
||
{
|
||
ConvertImageType(ho_in_ImageH, &ho_ImageConverted, "real");
|
||
}
|
||
else
|
||
{
|
||
ho_ImageConverted = ho_in_ImageH;
|
||
}
|
||
GetImageSize(ho_ImageConverted, &hv_Width2, &hv_Height2);
|
||
GenImageSurfaceFirstOrder(&ho_YImageSurface, "real", 1, 0, 0, 0, 0, hv_Width2,
|
||
hv_Height2);
|
||
GenImageSurfaceFirstOrder(&ho_XImageSurface, "real", 0, 1, 0, 0, 0, hv_Width2,
|
||
hv_Height2);
|
||
ScaleImage(ho_XImageSurface, &ho_in_XImageScaled, hv_in_xResolution, 0);
|
||
ScaleImage(ho_YImageSurface, &ho_in_YImageScaled, hv_in_xResolution, 0);
|
||
ScaleImage(ho_ImageConverted, &ho_in_ZImageScaled, hv_in_zResolution, 0);
|
||
Threshold(ho_ImageConverted, &ho_Regions, 0, 0);
|
||
GetDomain(ho_in_ImageH, &ho_Domain);
|
||
Difference(ho_Domain, ho_Regions, &ho_ProductRegion);
|
||
ReduceDomain(ho_in_ZImageScaled, ho_ProductRegion, &ho_ImageReduced);
|
||
if (0 != hv_Debug)
|
||
{
|
||
//reduce_domain (in_XImageScaled, ProductRegion, ImageReduced4)
|
||
//reduce_domain (in_YImageScaled, ProductRegion, ImageReduced5)
|
||
//xyz_to_object_model_3d (ImageReduced4, ImageReduced5, ImageReduced, ObjectModel3D)
|
||
//dev_get_window (WindowHandle)
|
||
//visualize_object_model_3d (WindowHandle, [ObjectModel3D], [], [], ['lut','intensity','disp_pose'], ['hsi','coord_z', 'true'], ['展示拟合的平面'], '', '', Pose)
|
||
}
|
||
//******************************************************
|
||
//step2: 获取基准面区域(新代码不使用这个区域的Region)
|
||
ClosingCircle(ho_ProductRegion, &ho_RegionClosing, 15);
|
||
FillUp(ho_RegionClosing, &ho_RegionFillUp3);
|
||
ErosionRectangle1(ho_RegionFillUp3, &ho_TempRegion, 1, 220);
|
||
//dev_display (ImageReduced)
|
||
//dev_display (TempRegion)
|
||
//区间进行内缩, 获取基准的端面.
|
||
ErosionCircle(ho_TempRegion, &ho_RegionErosion3, 80);
|
||
Difference(ho_TempRegion, ho_RegionErosion3, &ho_ZeroRegion);
|
||
//dev_display (ImageReduced)
|
||
//dev_display (ZeroRegion)
|
||
//******************************************************
|
||
ReduceDomain(ho_in_XImageScaled, ho_ZeroRegion, &ho_ImageReduced1);
|
||
ReduceDomain(ho_in_YImageScaled, ho_ZeroRegion, &ho_ImageReduced2);
|
||
ReduceDomain(ho_in_ZImageScaled, ho_ZeroRegion, &ho_ImageReduced3);
|
||
XyzToObjectModel3d(ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3, &hv_ObjectModel3D);
|
||
//拟合平面,
|
||
hv_ParFitting.Clear();
|
||
hv_ParFitting[0] = "primitive_type";
|
||
hv_ParFitting[1] = "fitting_algorithm";
|
||
hv_ParFitting[2] = "output_xyz_mapping";
|
||
hv_ValFitting.Clear();
|
||
hv_ValFitting[0] = "plane";
|
||
hv_ValFitting[1] = "least_squares_huber";
|
||
hv_ValFitting[2] = "false";
|
||
//利用产品的边缘拟合平面,
|
||
FitPrimitivesObjectModel3d(hv_ObjectModel3D, hv_ParFitting, hv_ValFitting, &hv_ObjectModelPlane);
|
||
GetObjectModel3dParams(hv_ObjectModelPlane, "primitive_parameter", &hv_PlaneParamValue);
|
||
|
||
//线程一,
|
||
hv_in_Direc1 = "Neg";
|
||
hv_in_Height1 = 1.0;
|
||
hv_in_PlaneParamValue1 = hv_PlaneParamValue;
|
||
ho_in_ZeroRegion1 = ho_ZeroRegion;
|
||
Get_OutGlueRegion(ho_in_XImageScaled, ho_in_YImageScaled, ho_in_ZImageScaled,
|
||
ho_in_ZeroRegion1, &ho_out_GlueRegion, hv_in_Height1, hv_in_Direc1, hv_in_PlaneParamValue1,
|
||
&hv_out_Flag1, &hv_out_Ngtails1);
|
||
|
||
//线程二,
|
||
hv_in_Direc2 = "all";
|
||
hv_in_Height2 = 0.15;
|
||
hv_in_PlaneParamValue2 = hv_PlaneParamValue;
|
||
ho_in_ZeroRegion2 = ho_ZeroRegion;
|
||
Get_InGlueRegion(ho_in_XImageScaled, ho_in_YImageScaled, ho_in_ZImageScaled,
|
||
ho_in_ZeroRegion2, &ho_in_EdgeRegion, hv_in_Height2, hv_in_PlaneParamValue2,
|
||
hv_in_Direc2, &hv_out_Flag2, &hv_out_Ngtails2);
|
||
if (0 != (HTuple(hv_out_Flag1 == 1).TupleAnd(hv_out_Flag2 == 1)))
|
||
{
|
||
//dev_display (ImageReduced)
|
||
//dev_display (out_GlueRegion)
|
||
//dev_display (in_EdgeRegion)
|
||
ho_out_EdgeRegion = ho_out_GlueRegion;
|
||
}
|
||
else
|
||
{
|
||
(*hv_out_Ngtails) = "点胶区域提取失败";
|
||
return;
|
||
}
|
||
|
||
AreaCenter(ho_in_EdgeRegion, &hv_Area2, &hv_Row2, &hv_Column2);
|
||
if (0 != (hv_Area2 < 10000))
|
||
{
|
||
ho_InspectionRegion = ho_out_GlueRegion;
|
||
AreaCenter(ho_out_GlueRegion, &hv_Area3, &hv_Row3, &hv_Column3);
|
||
GenCircle(&ho_in_EdgeRegion, hv_Row3, hv_Column3, 10);
|
||
}
|
||
else
|
||
{
|
||
//由于产品存在倾斜, 所以先获取内侧region的中心点,
|
||
AreaCenter(ho_in_EdgeRegion, &hv_Area5, &hv_Row5, &hv_Column5);
|
||
GenEllipse(&ho_Ellipse, hv_Row5, hv_Column5, -(HTuple(10).TupleRad()), 100,
|
||
30);
|
||
//dev_display (ImageReduced)
|
||
//dev_display (in_EdgeRegion)
|
||
//dev_display (Ellipse)
|
||
//stop ()
|
||
DilationRectangle1(ho_out_GlueRegion, &ho_RegionDilation2, 160, 20);
|
||
Difference(ho_RegionDilation2, ho_Ellipse, &ho_InspectionRegion);
|
||
}
|
||
//******************************************************
|
||
//dev_display (ImageReduced)
|
||
//dev_display (InspectionRegion)
|
||
//__________________________________________________________________________
|
||
//计算点胶高于基准面的高点
|
||
ho_in_InspectionRegion3 = ho_InspectionRegion;
|
||
hv_in_PlaneParamValue3 = hv_PlaneParamValue;
|
||
Cal_Height1(ho_in_XImageScaled, ho_in_YImageScaled, ho_in_ZImageScaled, ho_in_InspectionRegion3,
|
||
hv_in_PlaneParamValue3, &hv_out_PaintRows1, &hv_out_PaintColumns1, &hv_out_Height3,
|
||
&hv_out_Flag3);
|
||
//计算基准面的高点,
|
||
ho_in_InspectionRegion4 = ho_ProductRegion;
|
||
hv_in_PlaneParamValue4 = hv_PlaneParamValue;
|
||
ho_in_ProductRegion = ho_ProductRegion;
|
||
Cal_Height2(ho_in_XImageScaled, ho_in_YImageScaled, ho_in_ZImageScaled, ho_in_InspectionRegion4,
|
||
ho_in_ProductRegion, hv_in_PlaneParamValue4, &hv_out_PaintRows2, &hv_out_PaintColumns2,
|
||
&hv_out_Height4, &hv_out_Flag4);
|
||
//特殊区域补偿,
|
||
Difference(ho_out_GlueRegion, ho_in_EdgeRegion, &ho_RegionDifference);
|
||
//dev_display (ImageReduced)
|
||
//dev_display (RegionDifference)
|
||
RegionFeatures(ho_RegionDifference, (HTuple("width").Append("height")), &hv_Value);
|
||
PartitionRectangle(ho_RegionDifference, &ho_Partitioned, HTuple(hv_Value[0]) / 3.0,
|
||
HTuple(hv_Value[1]) + 30);
|
||
SortRegion(ho_Partitioned, &ho_SortedRegions, "character", "true", "column");
|
||
SelectObj(ho_SortedRegions, &ho_ObjectSelected, 2);
|
||
ShapeTrans(ho_ObjectSelected, &ho_RegionTrans, "rectangle2");
|
||
GenRegionPoints(&ho_Region, hv_out_PaintRows1, hv_out_PaintColumns1);
|
||
GenCrossContourXld(&ho_Cross, hv_out_PaintRows1, hv_out_PaintColumns1, 6, HTuple(45).TupleRad());
|
||
//dev_display (RegionTrans)
|
||
//dev_display (Cross)
|
||
Intersection(ho_Region, ho_RegionTrans, &ho_RegionIntersection);
|
||
AreaCenter(ho_RegionIntersection, &hv_Area4, &hv_Row4, &hv_Column4);
|
||
if (0 != (HTuple(hv_out_Height3 > hv_out_Height4).TupleAnd(hv_Area4 > 0)))
|
||
{
|
||
hv_out_Height3 += 0.05;
|
||
}
|
||
ho_in_outerEdge = ho_out_GlueRegion;
|
||
ho_in_innerEdge = ho_in_EdgeRegion;
|
||
ho_in_HYRegion = ho_Ellipse;
|
||
Cal_Height3(ho_in_XImageScaled, ho_in_YImageScaled, ho_in_ZImageScaled, ho_in_innerEdge,
|
||
ho_in_outerEdge, ho_in_HYRegion, &hv_out_Height, &hv_out_Flag5);
|
||
|
||
if (0 != (HTuple(HTuple(hv_out_Flag3 == 1).TupleAnd(hv_out_Flag4 == 1)).TupleAnd(hv_out_Flag5 == 1)))
|
||
{
|
||
(*hv_out_Height1) = hv_out_Height3 - hv_out_Height4;
|
||
(*hv_out_Height2) = hv_out_Height;
|
||
(*hv_out_Point).Clear();
|
||
(*hv_out_Point).Append(hv_out_PaintRows1);
|
||
(*hv_out_Point).Append(hv_out_PaintColumns1);
|
||
(*hv_out_Point).Append(hv_out_PaintRows2);
|
||
(*hv_out_Point).Append(hv_out_PaintColumns2);
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
//__________________________________________________________________________
|
||
//***********************************************************************
|
||
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
(*hv_out_Flag) = 2;
|
||
(*hv_out_Ngtails) = "算法执行错误";
|
||
}
|
||
|
||
return;
|
||
}
|
||
|
||
void Cal_Height1(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_InspectionRegion, HTuple hv_in_PlaneParamValue, HTuple* hv_out_PaintRows,
|
||
HTuple* hv_out_PaintColumns, HTuple* hv_out_Height, HTuple* hv_out_Flag)
|
||
{
|
||
|
||
// Local iconic variables
|
||
|
||
// Local control variables
|
||
HTuple hv_out_Ngtails, hv_A, hv_B, hv_C, hv_D;
|
||
HTuple hv_Rows, hv_Columns, hv_X, hv_Y, hv_Z, hv_Dist;
|
||
HTuple hv_Sorted, hv_PosGreater, hv_PosIndices, hv_NegLess;
|
||
HTuple hv_NegIndices, hv_Selected2, hv_Sorted1, hv_end1;
|
||
HTuple hv_Selected3, hv_Indices, hv_Sorted2, hv_Selected4;
|
||
HTuple hv_Exception;
|
||
|
||
|
||
|
||
|
||
|
||
|
||
(*hv_out_Height) = -99;
|
||
(*hv_out_Flag) = 0;
|
||
hv_out_Ngtails = "ok";
|
||
try
|
||
{
|
||
hv_A = ((const HTuple&)hv_in_PlaneParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_in_PlaneParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_in_PlaneParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_in_PlaneParamValue)[3];
|
||
GetRegionPoints(ho_in_InspectionRegion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_in_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_in_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_in_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = -hv_Dist;
|
||
}
|
||
TupleSort(hv_Dist, &hv_Sorted);
|
||
//******************************3***************************
|
||
//算法寻找高点, 并寻找最高点坐标
|
||
TupleGreaterElem(hv_Dist, 0, &hv_PosGreater);
|
||
//寻找大于0的点坐标,
|
||
TupleFind(hv_PosGreater, 1, &hv_PosIndices);
|
||
if (0 != (HTuple((hv_PosIndices.TupleLength()) < 100).TupleOr(hv_PosIndices == -1)))
|
||
{
|
||
TupleLessElem(hv_Dist, 0, &hv_NegLess);
|
||
TupleFind(hv_NegLess, 1, &hv_NegIndices);
|
||
TupleSelect(hv_Dist, hv_NegIndices, &hv_Selected2);
|
||
//该处需要对点集进行排序,
|
||
TupleSort(hv_Selected2, &hv_Sorted1);
|
||
hv_end1 = HTuple((hv_Sorted1.TupleLength()) * 0.95).TupleInt();
|
||
TupleSelect(hv_Sorted1, hv_end1, &hv_Selected3);
|
||
TupleFind(hv_Dist, hv_Selected3, &hv_Indices);
|
||
TupleSelect(hv_Rows, hv_Indices, &(*hv_out_PaintRows));
|
||
TupleSelect(hv_Columns, hv_Indices, &(*hv_out_PaintColumns));
|
||
(*hv_out_Height) = hv_Selected3;
|
||
}
|
||
else if (0 != ((hv_PosIndices.TupleLength()) > 100))
|
||
{
|
||
TupleGreaterElem(hv_Dist, 0, &hv_PosGreater);
|
||
TupleFind(hv_PosGreater, 1, &hv_PosIndices);
|
||
TupleSelect(hv_Dist, hv_PosIndices, &hv_Selected3);
|
||
//该处需要对点集进行排序,
|
||
TupleSort(hv_Selected3, &hv_Sorted2);
|
||
//end2 := int(|Sorted2|*0.99)
|
||
TupleSelect(hv_Sorted2, (hv_Sorted2.TupleLength()) - 10, &hv_Selected4);
|
||
TupleFind(hv_Dist, hv_Selected4, &hv_Indices);
|
||
TupleSelect(hv_Rows, hv_Indices, &(*hv_out_PaintRows));
|
||
TupleSelect(hv_Columns, hv_Indices, &(*hv_out_PaintColumns));
|
||
(*hv_out_Height) = hv_Selected4;
|
||
}
|
||
if (0 != ((*hv_out_Height) != -99))
|
||
{
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
hv_out_Ngtails = "算法错误";
|
||
}
|
||
return;
|
||
}
|
||
|
||
void Cal_Height2(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_InspectionRegion, HObject ho_in_ProductRegion, HTuple hv_in_PlaneParamValue,
|
||
HTuple* hv_out_PaintRows, HTuple* hv_out_PaintColumns, HTuple* hv_out_Height,
|
||
HTuple* hv_out_Flag)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_RegionErosion, ho_RegionDifference;
|
||
HObject ho_RegionTrans, ho_RegionErosion1, ho_InspectionRegion;
|
||
|
||
// Local control variables
|
||
HTuple hv_out_Ngtails, hv_A, hv_B, hv_C, hv_D;
|
||
HTuple hv_Rows, hv_Columns, hv_X, hv_Y, hv_Z, hv_Dist;
|
||
HTuple hv_Sorted, hv_PosGreater, hv_PosIndices, hv_NegLess;
|
||
HTuple hv_NegIndices, hv_Selected2, hv_Sorted1, hv_end1;
|
||
HTuple hv_Selected3, hv_Indices, hv_Sorted2, hv_end2, hv_Selected4;
|
||
HTuple hv_Exception;
|
||
|
||
|
||
|
||
|
||
|
||
|
||
(*hv_out_Height) = -99;
|
||
(*hv_out_Flag) = 0;
|
||
hv_out_Ngtails = "ok";
|
||
try
|
||
{
|
||
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
|
||
//fill_up (in_InspectionRegion, RegionFillUp)
|
||
//opening_circle (RegionFillUp, RegionOpening, 10.5)
|
||
//dev_display (in_ZImageScaled)
|
||
//dev_display (RegionOpening)
|
||
//connection (RegionOpening, ConnectedRegions)
|
||
//select_shape_std (ConnectedRegions, SelectedRegions, 'max_area', 70)
|
||
//dilation_circle (SelectedRegions, RegionDilation, 35)
|
||
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
|
||
ErosionRectangle1(ho_in_InspectionRegion, &ho_RegionErosion, 10, 70);
|
||
Difference(ho_in_InspectionRegion, ho_RegionErosion, &ho_RegionDifference);
|
||
ShapeTrans(ho_RegionDifference, &ho_RegionTrans, "rectangle1");
|
||
ErosionRectangle1(ho_RegionTrans, &ho_RegionErosion1, 350, 1);
|
||
Intersection(ho_RegionDifference, ho_RegionErosion1, &ho_InspectionRegion);
|
||
|
||
//dev_display (in_ZImageScaled)
|
||
//dev_display (RegionErosion1)
|
||
//difference (in_ProductRegion, RegionDilation, InspectionRegion)
|
||
if (HDevWindowStack::IsOpen())
|
||
DispObj(ho_in_ZImageScaled, HDevWindowStack::GetActive());
|
||
if (HDevWindowStack::IsOpen())
|
||
DispObj(ho_InspectionRegion, HDevWindowStack::GetActive());
|
||
|
||
hv_A = ((const HTuple&)hv_in_PlaneParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_in_PlaneParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_in_PlaneParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_in_PlaneParamValue)[3];
|
||
GetRegionPoints(ho_InspectionRegion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_in_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_in_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_in_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = -hv_Dist;
|
||
}
|
||
TupleSort(hv_Dist, &hv_Sorted);
|
||
//******************************3***************************
|
||
//算法寻找高点, 并寻找最高点坐标
|
||
TupleGreaterElem(hv_Dist, 0, &hv_PosGreater);
|
||
//寻找大于0的点坐标,
|
||
TupleFind(hv_PosGreater, 1, &hv_PosIndices);
|
||
if (0 != (HTuple((hv_PosIndices.TupleLength()) < 300).TupleOr(hv_PosIndices == -1)))
|
||
{
|
||
TupleLessElem(hv_Dist, 0, &hv_NegLess);
|
||
TupleFind(hv_NegLess, 1, &hv_NegIndices);
|
||
TupleSelect(hv_Dist, hv_NegIndices, &hv_Selected2);
|
||
//该处需要对点集进行排序,
|
||
TupleSort(hv_Selected2, &hv_Sorted1);
|
||
hv_end1 = HTuple((hv_Sorted1.TupleLength()) * 0.95).TupleInt();
|
||
TupleSelect(hv_Sorted1, hv_end1, &hv_Selected3);
|
||
TupleFind(hv_Dist, hv_Selected3, &hv_Indices);
|
||
TupleSelect(hv_Rows, hv_Indices, &(*hv_out_PaintRows));
|
||
TupleSelect(hv_Columns, hv_Indices, &(*hv_out_PaintColumns));
|
||
(*hv_out_Height) = hv_Selected3;
|
||
}
|
||
else if (0 != ((hv_PosIndices.TupleLength()) > 300))
|
||
{
|
||
TupleGreaterElem(hv_Dist, 0, &hv_PosGreater);
|
||
TupleFind(hv_PosGreater, 1, &hv_PosIndices);
|
||
TupleSelect(hv_Dist, hv_PosIndices, &hv_Selected3);
|
||
TupleSort(hv_Selected3, &hv_Sorted2);
|
||
hv_end2 = HTuple((hv_Sorted2.TupleLength()) * 0.7).TupleInt();
|
||
TupleSelect(hv_Sorted2, hv_end2, &hv_Selected4);
|
||
TupleFind(hv_Dist, hv_Selected4, &hv_Indices);
|
||
TupleSelect(hv_Rows, hv_Indices, &(*hv_out_PaintRows));
|
||
TupleSelect(hv_Columns, hv_Indices, &(*hv_out_PaintColumns));
|
||
(*hv_out_Height) = hv_Selected4;
|
||
}
|
||
if (0 != ((*hv_out_Height) != -99))
|
||
{
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
hv_out_Ngtails = "算法错误";
|
||
}
|
||
return;
|
||
}
|
||
|
||
void Cal_Height3(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_innerEdge, HObject ho_in_outerEdge, HObject ho_in_HYRegion, HTuple* hv_out_Height,
|
||
HTuple* hv_out_Flag)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_RegionDifference, ho_GlueRegion, ho_RegionErosion;
|
||
HObject ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3;
|
||
|
||
// Local control variables
|
||
HTuple hv_out_Ngtails, hv_ObjectModel3D, hv_ParFitting;
|
||
HTuple hv_ValFitting, hv_ObjectModelPlane, hv_PlaneParamValue;
|
||
HTuple hv_A, hv_B, hv_C, hv_D, hv_Rows, hv_Columns, hv_X;
|
||
HTuple hv_Y, hv_Z, hv_Dist, hv_Sorted, hv_start1, hv_end1;
|
||
HTuple hv_Selected, hv_Max, hv_Exception;
|
||
|
||
|
||
(*hv_out_Height) = -99;
|
||
(*hv_out_Flag) = 0;
|
||
hv_out_Ngtails = "ok";
|
||
try
|
||
{
|
||
Difference(ho_in_innerEdge, ho_in_HYRegion, &ho_RegionDifference);
|
||
Difference(ho_in_outerEdge, ho_in_innerEdge, &ho_GlueRegion);
|
||
ErosionCircle(ho_RegionDifference, &ho_RegionErosion, 10.5);
|
||
ReduceDomain(ho_in_XImageScaled, ho_RegionErosion, &ho_ImageReduced1);
|
||
ReduceDomain(ho_in_YImageScaled, ho_RegionErosion, &ho_ImageReduced2);
|
||
ReduceDomain(ho_in_ZImageScaled, ho_RegionErosion, &ho_ImageReduced3);
|
||
XyzToObjectModel3d(ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3, &hv_ObjectModel3D);
|
||
//拟合平面,
|
||
hv_ParFitting.Clear();
|
||
hv_ParFitting[0] = "primitive_type";
|
||
hv_ParFitting[1] = "fitting_algorithm";
|
||
hv_ParFitting[2] = "output_xyz_mapping";
|
||
hv_ValFitting.Clear();
|
||
hv_ValFitting[0] = "plane";
|
||
hv_ValFitting[1] = "least_squares_huber";
|
||
hv_ValFitting[2] = "false";
|
||
//利用产品的边缘拟合平面,
|
||
FitPrimitivesObjectModel3d(hv_ObjectModel3D, hv_ParFitting, hv_ValFitting, &hv_ObjectModelPlane);
|
||
GetObjectModel3dParams(hv_ObjectModelPlane, "primitive_parameter", &hv_PlaneParamValue);
|
||
hv_A = ((const HTuple&)hv_PlaneParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_PlaneParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_PlaneParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_PlaneParamValue)[3];
|
||
GetRegionPoints(ho_GlueRegion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_in_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_in_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_in_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = -hv_Dist;
|
||
}
|
||
TupleSort(hv_Dist, &hv_Sorted);
|
||
hv_start1 = HTuple((hv_Sorted.TupleLength()) * 0.02).TupleInt();
|
||
hv_end1 = HTuple((hv_Sorted.TupleLength()) * 0.98).TupleInt();
|
||
TupleSelect(hv_Sorted, HTuple::TupleGenSequence(hv_start1, hv_end1, 1), &hv_Selected);
|
||
TupleMax(hv_Selected, &hv_Max);
|
||
(*hv_out_Height) = hv_Max;
|
||
if (0 != ((*hv_out_Height) != -99))
|
||
{
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
hv_out_Ngtails = "算法错误";
|
||
}
|
||
|
||
return;
|
||
}
|
||
|
||
|
||
void Get_InGlueRegion(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_ZeroRegion, HObject* ho_in_EdgeRegion, HTuple hv_in_Height, HTuple hv_in_PlaneParamValue,
|
||
HTuple hv_in_Direc, HTuple* hv_out_Flag, HTuple* hv_out_Ngtails)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_RegionFillUp, ho_Tempregion, ho_Region2;
|
||
HObject ho_RegionOpening, ho_ConnectedRegions3, ho_Regions;
|
||
HObject ho_Out_ROI, ho_ConnectedRegions4, ho_SelectedRegions3;
|
||
HObject ho_SelectedRegions, ho_closingRegion;
|
||
|
||
// Local control variables
|
||
HTuple hv_A, hv_B, hv_C, hv_D, hv_Rows, hv_Columns;
|
||
HTuple hv_X, hv_Y, hv_Z, hv_Dist, hv_Com_Tuple, hv_Prod_X;
|
||
HTuple hv_Prod_Y, hv_HeightOut, hv_Com_Tuple2, hv_Com_Tuple1;
|
||
HTuple hv_And, hv_Number, hv_Value, hv_Area, hv_Row, hv_Column;
|
||
HTuple hv_Exception;
|
||
|
||
|
||
|
||
|
||
|
||
|
||
(*hv_out_Flag) = 0;
|
||
(*hv_out_Ngtails) = "ok";
|
||
try
|
||
{
|
||
FillUp(ho_in_ZeroRegion, &ho_RegionFillUp);
|
||
Difference(ho_RegionFillUp, ho_in_ZeroRegion, &ho_Tempregion);
|
||
hv_A = ((const HTuple&)hv_in_PlaneParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_in_PlaneParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_in_PlaneParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_in_PlaneParamValue)[3];
|
||
|
||
GetRegionPoints(ho_Tempregion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_in_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_in_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_in_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = hv_Dist * -1;
|
||
}
|
||
if (0 != (hv_in_Direc == HTuple("Pos")))
|
||
{
|
||
TupleGreaterElem(hv_Dist, hv_in_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
else if (0 != (hv_in_Direc == HTuple("Neg")))
|
||
{
|
||
hv_HeightOut = hv_HeightOut * -1;
|
||
TupleLessElem(hv_Dist, hv_in_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
else if (0 != (hv_in_Direc == HTuple("all")))
|
||
{
|
||
TupleLessElem(hv_Dist, hv_in_Height, &hv_Com_Tuple2);
|
||
TupleGreaterElem(hv_Dist, -hv_in_Height, &hv_Com_Tuple1);
|
||
TupleAnd(hv_Com_Tuple1, hv_Com_Tuple2, &hv_And);
|
||
TupleMult(hv_Rows, hv_And, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_And, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
ClosingCircle(ho_Out_ROI, &ho_RegionOpening, 4.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions4);
|
||
SelectShape(ho_ConnectedRegions4, &ho_SelectedRegions3, "max_diameter", "and",
|
||
450, 900);
|
||
CountObj(ho_SelectedRegions3, &hv_Number);
|
||
if (0 != (hv_Number > 1))
|
||
{
|
||
RegionFeatures(ho_SelectedRegions3, "max_diameter", &hv_Value);
|
||
SelectShape(ho_SelectedRegions3, &ho_SelectedRegions, "max_diameter", "and",
|
||
(hv_Value.TupleMax()) - 1, (hv_Value.TupleMax()) + 1);
|
||
ho_SelectedRegions3 = ho_SelectedRegions;
|
||
}
|
||
ClosingCircle(ho_SelectedRegions3, &ho_closingRegion, 20);
|
||
FillUp(ho_closingRegion, &(*ho_in_EdgeRegion));
|
||
AreaCenter((*ho_in_EdgeRegion), &hv_Area, &hv_Row, &hv_Column);
|
||
if (0 != (hv_Area > 0))
|
||
{
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
(*hv_out_Ngtails) = "算法错误";
|
||
}
|
||
return;
|
||
}
|
||
|
||
void Get_OutGlueRegion(HObject ho_in_XImageScaled, HObject ho_in_YImageScaled, HObject ho_in_ZImageScaled,
|
||
HObject ho_in_ZeroRegion, HObject* ho_out_GlueRegion, HTuple hv_in_Height, HTuple hv_in_Direc,
|
||
HTuple hv_in_PlaneParamValue, HTuple* hv_out_Flag, HTuple* hv_out_Ngtails)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_RegionFillUp, ho_Tempregion, ho_Region2;
|
||
HObject ho_RegionOpening, ho_ConnectedRegions3, ho_Regions;
|
||
HObject ho_Out_ROI, ho_SelectedRegions2, ho_RegionFillUp1;
|
||
HObject ho_RegionDifference2, ho_EdgeRegion, ho_ConnectedRegions1;
|
||
|
||
// Local control variables
|
||
HTuple hv_A, hv_B, hv_C, hv_D, hv_Rows, hv_Columns;
|
||
HTuple hv_X, hv_Y, hv_Z, hv_Dist, hv_Com_Tuple, hv_Prod_X;
|
||
HTuple hv_Prod_Y, hv_Com_Tuple2, hv_Com_Tuple1, hv_And;
|
||
HTuple hv_Area, hv_Row, hv_Column, hv_Exception;
|
||
|
||
|
||
|
||
|
||
|
||
|
||
(*hv_out_Flag) = 0;
|
||
(*hv_out_Ngtails) = "ok";
|
||
try
|
||
{
|
||
FillUp(ho_in_ZeroRegion, &ho_RegionFillUp);
|
||
Difference(ho_RegionFillUp, ho_in_ZeroRegion, &ho_Tempregion);
|
||
//dev_display (in_XIageScaled)
|
||
if (HDevWindowStack::IsOpen())
|
||
DispObj(ho_Tempregion, HDevWindowStack::GetActive());
|
||
hv_A = ((const HTuple&)hv_in_PlaneParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_in_PlaneParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_in_PlaneParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_in_PlaneParamValue)[3];
|
||
GetRegionPoints(ho_Tempregion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_in_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_in_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_in_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = hv_Dist * -1;
|
||
}
|
||
if (0 != (hv_in_Direc == HTuple("Pos")))
|
||
{
|
||
TupleGreaterElem(hv_Dist, hv_in_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
else if (0 != (hv_in_Direc == HTuple("Neg")))
|
||
{
|
||
//Height := Height*(-1)
|
||
TupleLessElem(hv_Dist, -hv_in_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
else if (0 != (hv_in_Direc == HTuple("all")))
|
||
{
|
||
TupleLessElem(hv_Dist, hv_in_Height, &hv_Com_Tuple2);
|
||
TupleGreaterElem(hv_Dist, -hv_in_Height, &hv_Com_Tuple1);
|
||
TupleAnd(hv_Com_Tuple1, hv_Com_Tuple2, &hv_And);
|
||
TupleMult(hv_Rows, hv_And, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_And, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &ho_Out_ROI);
|
||
}
|
||
|
||
|
||
Connection(ho_Out_ROI, &ho_ConnectedRegions3);
|
||
SelectShapeStd(ho_ConnectedRegions3, &ho_SelectedRegions2, "max_area", 70);
|
||
FillUp(ho_SelectedRegions2, &ho_RegionFillUp1);
|
||
Difference(ho_RegionFillUp1, ho_SelectedRegions2, &ho_RegionDifference2);
|
||
OpeningCircle(ho_RegionDifference2, &ho_EdgeRegion, 5.5);
|
||
Connection(ho_EdgeRegion, &ho_ConnectedRegions1);
|
||
SelectShapeStd(ho_ConnectedRegions1, &(*ho_out_GlueRegion), "max_area", 70);
|
||
AreaCenter((*ho_out_GlueRegion), &hv_Area, &hv_Row, &hv_Column);
|
||
if (0 != (hv_Area > 0))
|
||
{
|
||
(*hv_out_Flag) = 1;
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
(*hv_out_Flag) = 0;
|
||
(*hv_out_Ngtails) = "算法错误";
|
||
}
|
||
return;
|
||
}
|
||
|
||
|
||
|
||
void Get_ROI1(HObject ho_XImageScaled, HObject ho_YImageScaled, HObject ho_ZImageScaled,
|
||
HObject ho_ZeroRegion, HObject ho_TmpRegion, HObject* ho_Out_ROI, HTuple hv_Direc,
|
||
HTuple hv_Height)
|
||
{
|
||
|
||
// Local iconic variables
|
||
HObject ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3;
|
||
HObject ho_Region2, ho_RegionOpening, ho_ConnectedRegions3;
|
||
HObject ho_Regions;
|
||
|
||
// Local control variables
|
||
HTuple hv_Debug, hv_ObjectModel3D, hv_ParFitting;
|
||
HTuple hv_ValFitting, hv_ObjectModelPlane, hv_GenParamValue;
|
||
HTuple hv_A, hv_B, hv_C, hv_D, hv_WindowHandleOut, hv_PoseOut;
|
||
HTuple hv_Rows, hv_Columns, hv_X, hv_Y, hv_Z, hv_Dist;
|
||
HTuple hv_Com_Tuple, hv_Prod_X, hv_Prod_Y, hv_Com_Tuple2;
|
||
HTuple hv_Com_Tuple1, hv_And, hv_Exception;
|
||
|
||
|
||
//**********************************************************************
|
||
//Function Name: Get_ROI1
|
||
//Author: 胡汉兵,
|
||
//Description: 获取有效的检测面,
|
||
//Input:
|
||
// XImageScaled, X向图像
|
||
// YImageScaled, Y向图像
|
||
// ZImageScaled, Z向图像
|
||
// Zero_Region, 基准平面的区域,
|
||
// InspectioRegion, 提取有效的检测面的Region
|
||
// Direc, 挑选极柱面的方向, 'Pos':极柱面上+ 'Neg': 极柱面下- 'all': 极柱上下范围内的点集,
|
||
// Height, 挑选极柱面的高度值(mm)
|
||
//output： Out_ROI, 挑选的ROI区域,
|
||
|
||
//verion change log: 胡汉兵 2023-09-07 V1.1 Create new function
|
||
// 胡汉兵 2023-11-01 V1.2 新增面上下范围内的点集,
|
||
//
|
||
//**********************************************************************
|
||
hv_Debug = 0;
|
||
try
|
||
{
|
||
ReduceDomain(ho_XImageScaled, ho_ZeroRegion, &ho_ImageReduced1);
|
||
ReduceDomain(ho_YImageScaled, ho_ZeroRegion, &ho_ImageReduced2);
|
||
ReduceDomain(ho_ZImageScaled, ho_ZeroRegion, &ho_ImageReduced3);
|
||
XyzToObjectModel3d(ho_ImageReduced1, ho_ImageReduced2, ho_ImageReduced3, &hv_ObjectModel3D);
|
||
//拟合平面,
|
||
hv_ParFitting.Clear();
|
||
hv_ParFitting[0] = "primitive_type";
|
||
hv_ParFitting[1] = "fitting_algorithm";
|
||
hv_ParFitting[2] = "output_xyz_mapping";
|
||
hv_ValFitting.Clear();
|
||
hv_ValFitting[0] = "plane";
|
||
hv_ValFitting[1] = "least_squares_huber";
|
||
hv_ValFitting[2] = "false";
|
||
//利用产品的边缘拟合平面,
|
||
FitPrimitivesObjectModel3d(hv_ObjectModel3D, hv_ParFitting, hv_ValFitting, &hv_ObjectModelPlane);
|
||
GetObjectModel3dParams(hv_ObjectModelPlane, "primitive_parameter", &hv_GenParamValue);
|
||
hv_A = ((const HTuple&)hv_GenParamValue)[0];
|
||
hv_B = ((const HTuple&)hv_GenParamValue)[1];
|
||
hv_C = ((const HTuple&)hv_GenParamValue)[2];
|
||
hv_D = ((const HTuple&)hv_GenParamValue)[3];
|
||
|
||
GetRegionPoints(ho_TmpRegion, &hv_Rows, &hv_Columns);
|
||
GetGrayval(ho_XImageScaled, hv_Rows, hv_Columns, &hv_X);
|
||
GetGrayval(ho_YImageScaled, hv_Rows, hv_Columns, &hv_Y);
|
||
GetGrayval(ho_ZImageScaled, hv_Rows, hv_Columns, &hv_Z);
|
||
hv_Dist = (((hv_A * hv_X) + (hv_B * hv_Y)) + (hv_C * hv_Z)) - hv_D;
|
||
if (0 != (hv_C < 0))
|
||
{
|
||
hv_Dist = hv_Dist * -1;
|
||
}
|
||
if (0 != (hv_Direc == HTuple("Pos")))
|
||
{
|
||
TupleGreaterElem(hv_Dist, hv_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &(*ho_Out_ROI));
|
||
}
|
||
else if (0 != (hv_Direc == HTuple("Neg")))
|
||
{
|
||
hv_Height = hv_Height * -1;
|
||
TupleLessElem(hv_Dist, hv_Height, &hv_Com_Tuple);
|
||
TupleMult(hv_Rows, hv_Com_Tuple, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_Com_Tuple, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &(*ho_Out_ROI));
|
||
}
|
||
else if (0 != (hv_Direc == HTuple("all")))
|
||
{
|
||
TupleLessElem(hv_Dist, hv_Height, &hv_Com_Tuple2);
|
||
TupleGreaterElem(hv_Dist, -hv_Height, &hv_Com_Tuple1);
|
||
TupleAnd(hv_Com_Tuple1, hv_Com_Tuple2, &hv_And);
|
||
TupleMult(hv_Rows, hv_And, &hv_Prod_X);
|
||
TupleMult(hv_Columns, hv_And, &hv_Prod_Y);
|
||
GenRegionPoints(&ho_Region2, hv_Prod_X, hv_Prod_Y);
|
||
ClosingCircle(ho_Region2, &ho_RegionOpening, 3.5);
|
||
Connection(ho_RegionOpening, &ho_ConnectedRegions3);
|
||
SelectShape(ho_ConnectedRegions3, &ho_Regions, "area", "and", 2, 9999999999999);
|
||
Union1(ho_Regions, &(*ho_Out_ROI));
|
||
}
|
||
}
|
||
// catch (Exception)
|
||
catch (HException& HDevExpDefaultException)
|
||
{
|
||
HDevExpDefaultException.ToHTuple(&hv_Exception);
|
||
|
||
|
||
|
||
}
|
||
|
||
return;
|
||
} |