From e18e76791563cab9ff366d059ee28b7580107f02 Mon Sep 17 00:00:00 2001 From: RCi <15089880081@163.com> Date: Fri, 9 Aug 2024 01:43:16 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0smallApex=E7=AE=97=E6=B3=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- HanddleAI/HandleAiUi-new/algo/CISCO_APEX.hpp | 12 +- .../HandleAiUi-new/algo/CISCO_APEXSMALL.hpp | 132 +++++++++++- .../HandleAiUi-new/algo/OPENCV_Correction.hpp | 196 ++++++++++-------- .../halconAlgo/Inspection_apexSmall.hpp | 28 +-- HanddleAI/HandleAiUi-new/main.cpp | 1 - lib/Hd_3DCameraLMI_module_PointLazer.exp | Bin 772 -> 772 bytes lib/Hd_3DCameraLMI_module_PointLazer.lib | Bin 2276 -> 2276 bytes lib/Hd_DalsaCamera_module.exp | Bin 751 -> 751 bytes lib/Hd_DalsaCamera_module.lib | Bin 2120 -> 2120 bytes lib/Hd_FinsTcp_module.exp | Bin 743 -> 743 bytes lib/Hd_FinsTcp_module.lib | Bin 2064 -> 2064 bytes lib/Hd_MvCamera_module_GENTL.exp | Bin 756 -> 756 bytes lib/Hd_MvCamera_module_GENTL.lib | Bin 2164 -> 2164 bytes lib/Hd_MvCamera_module_GIGE.exp | Bin 755 -> 755 bytes lib/Hd_MvCamera_module_GIGE.lib | Bin 2148 -> 2148 bytes lib/Hd_ResultsSummary_module.exp | Bin 756 -> 756 bytes lib/Hd_ResultsSummary_module.lib | Bin 2164 -> 2164 bytes lib/Hd_SocketModule_ModbusTcp.exp | Bin 1501 -> 1501 bytes lib/Hd_SocketModule_ModbusTcp.lib | Bin 3446 -> 3446 bytes 19 files changed, 255 insertions(+), 114 deletions(-) diff --git a/HanddleAI/HandleAiUi-new/algo/CISCO_APEX.hpp b/HanddleAI/HandleAiUi-new/algo/CISCO_APEX.hpp index 167dfabb..17c660bc 100644 --- a/HanddleAI/HandleAiUi-new/algo/CISCO_APEX.hpp +++ b/HanddleAI/HandleAiUi-new/algo/CISCO_APEX.hpp @@ -118,14 +118,14 @@ static cv::Mat apexHalconAlgo(std::shared_ptrdata, cv::Mat& src) AllBaseRects.push_back(rectAndResult(rect,false)); } - for (int i = 0; i < hv_out_OK_PingsSize / 4; i++) + for (int i = 0; i < hv_out_PingsSize / 4; i++) { cv::Rect rect( - hv_out_OK_Pings[i * 4].D(), - hv_out_OK_Pings[i * 4 + 1].D(), - hv_out_OK_Pings[i * 4 + 2].D(), - hv_out_OK_Pings[i * 4 + 3].D()); - okPos.push_back(rect); + hv_out_Pings[i * 4].D(), + hv_out_Pings[i * 4 + 1].D(), + hv_out_Pings[i * 4 + 2].D(), + hv_out_Pings[i * 4 + 3].D()); + //okPos.push_back(rect); AllPoints.push_back(rect); } std::vectorxLines; diff --git a/HanddleAI/HandleAiUi-new/algo/CISCO_APEXSMALL.hpp b/HanddleAI/HandleAiUi-new/algo/CISCO_APEXSMALL.hpp index 5e7b29c8..148f9a01 100644 --- a/HanddleAI/HandleAiUi-new/algo/CISCO_APEXSMALL.hpp +++ b/HanddleAI/HandleAiUi-new/algo/CISCO_APEXSMALL.hpp @@ -1,14 +1,138 @@ #include #include -#include +#include #include //ÊäÈëdetÇгöµÄÁ¬½ÓÆ÷ͼƬ +static void apexSmallHalconPaint(cv::Mat& out, std::vectorxLines, const std::vector& AllPinsPos, const std::vector& AllPos, double& maxRange) +{ + std::vector> groupedRectangles = groupRectanglesByX(AllPos, 40);//±à×é + for (auto& vec : groupedRectangles)//ÅÅÐò + sortRectanglesByY(vec); + std::vector> PinGroupedRectangles = groupRectanglesByX(AllPinsPos, 40);//±à×é + for (auto& vec : PinGroupedRectangles)//ÅÅÐò + sortRectanglesByY(vec); + std::sort(xLines.begin(), xLines.end(), compareByStartX); + for (auto& linex : xLines)//»­ÊúÏß + { + cv::line(out, + cv::Point(linex.start.x, linex.start.y), + cv::Point(linex.end.x, linex.end.y), + cv::Scalar(0, 255, 0), 3); + } + + for (int i = 0; i < xLines.size(); i++) + { + if (groupedRectangles.size() > i) + for (auto& rectIn : groupedRectangles[i]) + { + cv::Point mid(rectIn.rect.x, rectIn.rect.y); + double range = pointToLineDistance(mid, xLines[i].start, xLines[i].end) * pixACC; + maxRange = max(maxRange, range); + cv::Rect rect(rectIn.rect.x - rectIn.rect.width / 2, rectIn.rect.y - rectIn.rect.height / 2, rectIn.rect.width, rectIn.rect.height); + cv::Scalar scolor; + if (rectIn.isOK == false) + scolor = cv::Scalar(0, 0, 255); + else + scolor = cv::Scalar(0, 255, 0); + cv::rectangle(out, rect, scolor, 5); //»­pinÕë + //cv::putText(out, + // std::to_string(range), + // cv::Point(mid.x, mid.y - 5), 4, 1, + // scolor); + } + } + for (int i = 0; i < xLines.size(); i++) + { + if (PinGroupedRectangles.size() > i) + for (auto& rectIn : PinGroupedRectangles[i]) + { + cv::Point mid(rectIn.x, rectIn.y); + double range = pointToLineDistance(mid, xLines[i].start, xLines[i].end) * pixACC; + maxRange = max(maxRange, range); + cv::Rect rect(rectIn.x - rectIn.width / 2, rectIn.y - rectIn.height / 2, rectIn.width, rectIn.height); + cv::Scalar scolor = cv::Scalar(0, 255, 0); + cv::rectangle(out, rect, scolor, 3); //»­pinÕë + cv::putText(out, + std::to_string(range), + cv::Point(mid.x, mid.y - 5), 4, 1, + scolor); + } + } +} static cv::Mat apexSmallHalconAlgo(std::shared_ptrdata, cv::Mat& src) { - data->segOriginImgs.push_back(src); - return src; -} + cv::Mat halconImg; + src(cv::Rect(50, 50, src.cols - 100, src.rows - 150)).copyTo(halconImg); + HTuple hv_out_OK_Pings; + HTuple hv_out_NG_Pings; + HTuple hv_out_Flag_INS; + HTuple hv_out_Line; + HTuple hv_pin_number; + HTuple hv_out_Pings; + HObject ho_in_Image = MatToHObject(halconImg); + cv::Mat r = HObject2Mat(ho_in_Image); + sk2_APEXSMALL_Pin(ho_in_Image, &hv_out_OK_Pings, &hv_out_NG_Pings, + &hv_out_Line, &hv_pin_number, &hv_out_Pings, &hv_out_Flag_INS); + int flag = hv_out_Flag_INS.D(); + if (halconImg.channels() == 1) + cv::cvtColor(halconImg, halconImg, cv::COLOR_GRAY2BGR); + int hv_out_OK_PingsSize = hv_out_OK_Pings.Length(), + hv_out_NG_PingsSize = hv_out_NG_Pings.Length(); + int lineSize = hv_out_Line.Length(); + int hv_out_PingsSize = hv_out_Pings.Length(); + int hv_pin_numberSize = hv_pin_number.Length(); + std::cout << "OKSize" << hv_out_OK_PingsSize << "NGSize" << hv_out_NG_PingsSize << std::endl; + std::vector AllBaseRects; + std::vector AllPoints; + std::vectorokPos; + for (int i = 0; i < hv_out_OK_PingsSize / 4; i++) + { + cv::Rect rect( + hv_out_OK_Pings[i * 4].D(), + hv_out_OK_Pings[i * 4 + 1].D(), + hv_out_OK_Pings[i * 4 + 2].D(), + hv_out_OK_Pings[i * 4 + 3].D()); + okPos.push_back(rect); + AllBaseRects.push_back(rectAndResult(rect, true)); + } + std::vectorngPos; + for (int i = 0; i < hv_out_NG_PingsSize / 4; i++) + { + cv::Rect rect( + hv_out_NG_Pings[i * 4].D(), + hv_out_NG_Pings[i * 4 + 1].D(), + hv_out_NG_Pings[i * 4 + 2].D(), + hv_out_NG_Pings[i * 4 + 3].D()); + ngPos.push_back(rect); + AllBaseRects.push_back(rectAndResult(rect, false)); + } + for (int i = 0; i < hv_out_PingsSize / 4; i++) + { + cv::Rect rect( + hv_out_Pings[i * 4].D(), + hv_out_Pings[i * 4 + 1].D(), + hv_out_Pings[i * 4 + 2].D(), + hv_out_Pings[i * 4 + 3].D()); + //okPos.push_back(rect); + AllPoints.push_back(rect); + } + std::vectorxLines; + for (int i = 0; i < lineSize / 4; i++) + { + startAndEndPoints p; + p.start.x = hv_out_Line[i * 4 + 1].D(); + p.start.y = hv_out_Line[i * 4].D(); + p.end.x = hv_out_Line[i * 4 + 3].D(); + p.end.y = hv_out_Line[i * 4 + 2].D(); + xLines.push_back(p); + } + //»­Ïß + double maxRange = 0; + apexSmallHalconPaint(halconImg, xLines, AllPoints, AllBaseRects, maxRange); + data->maxPinDetValue = maxRange; + return halconImg; +} //ÊäÈëdetÇгöµÄÁ¬½ÓÆ÷ͼƬ static cv::Mat apexSmallHandleAiAlgo(std::shared_ptrdata, cv::Mat& src, handleAiModelManager* _handleAiModelManager) diff --git a/HanddleAI/HandleAiUi-new/algo/OPENCV_Correction.hpp b/HanddleAI/HandleAiUi-new/algo/OPENCV_Correction.hpp index f158e72b..1adcfcd3 100644 --- a/HanddleAI/HandleAiUi-new/algo/OPENCV_Correction.hpp +++ b/HanddleAI/HandleAiUi-new/algo/OPENCV_Correction.hpp @@ -2,104 +2,122 @@ #include using namespace cv; using namespace std; -Eigen::Vector3d convertToEigenVector(const Eigen::Matrix& mat) { - return Eigen::Vector3d(mat(0), mat(1), mat(2)); +Eigen::Vector3d calculateCentroid(const Eigen::Vector3d& P1, const Eigen::Vector3d& P2, const Eigen::Vector3d& P3) { + return (P1 + P2 + P3) / 3.0; +} +Eigen::Vector3d calculateTranslation(const Eigen::Vector3d& A1, const Eigen::Vector3d& A2, const Eigen::Vector3d& A3, + const Eigen::Vector3d& B1, const Eigen::Vector3d& B2, const Eigen::Vector3d& B3) { + Eigen::Vector3d centroidA = calculateCentroid(A1, A2, A3); + Eigen::Vector3d centroidB = calculateCentroid(B1, B2, B3); + return centroidB - centroidA; +} +Eigen::Matrix3d calculateRotationMatrix(const Eigen::Vector3d& A1, const Eigen::Vector3d& A2, const Eigen::Vector3d& A3, + const Eigen::Vector3d& B1, const Eigen::Vector3d& B2, const Eigen::Vector3d& B3) { + // ¶¨ÒåÎïÌå A µÄ¾Ö²¿×ø±êϵ + Eigen::Vector3d v1_A = (A2 - A1).normalized(); + Eigen::Vector3d v2_A = (A3 - A1).normalized(); + Eigen::Vector3d v3_A = v1_A.cross(v2_A).normalized(); + Eigen::Matrix3d RA; + RA.col(0) = v1_A; + RA.col(1) = v3_A.cross(v1_A).normalized(); + RA.col(2) = v3_A; + + // ¶¨ÒåÎïÌå B µÄ¾Ö²¿×ø±êϵ + Eigen::Vector3d v1_B = (B2 - B1).normalized(); + Eigen::Vector3d v2_B = (B3 - B1).normalized(); + Eigen::Vector3d v3_B = v1_B.cross(v2_B).normalized(); + Eigen::Matrix3d RB; + RB.col(0) = v1_B; + RB.col(1) = v3_B.cross(v1_B).normalized(); + RB.col(2) = v3_B; + + // ¼ÆËãÐýת¾ØÕó + Eigen::Matrix3d R_AB = RB * RA.transpose(); + return R_AB; } -// Function to compute the affine transformation using Eigen -Eigen::Matrix computeAffine3D( - const std::vector& src, - const std::vector& dst) -{ - Eigen::Matrix affine = Eigen::Matrix::Identity(); - - // Prepare the matrices - Eigen::Matrix A; - Eigen::Matrix b; - Eigen::Matrix x; - - // Calculate the centroid of source and destination points - Eigen::Vector3d src_mean = Eigen::Vector3d::Zero(); - Eigen::Vector3d dst_mean = Eigen::Vector3d::Zero(); - for (size_t i = 0; i < src.size(); ++i) { - src_mean += src[i]; - dst_mean += dst[i]; - } - src_mean /= src.size(); - dst_mean /= dst.size(); - - // Compute the centered matrices - Eigen::Matrix src_centered(3, src.size()); - Eigen::Matrix dst_centered(3, dst.size()); - for (size_t i = 0; i < src.size(); ++i) { - src_centered.col(i) = src[i] - src_mean; - dst_centered.col(i) = dst[i] - dst_mean; - } - - // Compute the covariance matrix and SVD - Eigen::Matrix H = dst_centered * src_centered.transpose(); - Eigen::JacobiSVD> svd(H, Eigen::ComputeFullU | Eigen::ComputeFullV); - Eigen::Matrix R = svd.matrixV() * svd.matrixU().transpose(); - Eigen::Matrix t = dst_mean - R * src_mean; - - affine.block<3, 3>(0, 0) = R; - affine.block<3, 1>(0, 3) = t; - - return affine; +Eigen::Vector3d calculateEulerAngles(const Eigen::Matrix3d& R) { + return R.eulerAngles(0, 1, 2); // ·µ»ØÈÆ X, Y, Z ÖáµÄÅ·À­½Ç£¨Yaw-Pitch-Roll£© } -int oevaluate() +Eigen::Vector3d calculateCentroid(const std::vector& points) { + Eigen::Vector3d centroid(0, 0, 0); + for (const auto& point : points) { + centroid += point; + } + centroid /= points.size(); + return centroid; +} +Eigen::Matrix3d calculateRotationMatrixSVD(const std::vector& A_points, const std::vector& B_points) { + Eigen::Matrix3d H = Eigen::Matrix3d::Zero(); + for (size_t i = 0; i < A_points.size(); ++i) { + H += (B_points[i] - calculateCentroid(B_points)) * (A_points[i] - calculateCentroid(A_points)).transpose(); + } + Eigen::JacobiSVD svd(H, Eigen::ComputeFullU | Eigen::ComputeFullV); + Eigen::Matrix3d R = svd.matrixV() * svd.matrixU().transpose(); + return R; +} + +//std::vector P1 = { +// Eigen::Vector3d(453.64, -1373.59, -203.9841), // -130.33 - 73.6541 +// Eigen::Vector3d(462.86, -1228.2 , -206.8113), // -130.42 - 76.3913 +// Eigen::Vector3d(723.69, -1228.2 , -206.3582), // -130.43 - 75.9282 +// Eigen::Vector3d(755.77, -447.5516, -967.41), // -385.56 - 61.9916 +// Eigen::Vector3d(756.7 , -447.9429, -999.2), // -385.56 - 62.3829 +// Eigen::Vector3d(347.92, -450.0665, -1000.87), // -385.48 - 64.5865 +// Eigen::Vector3d(-120.6791, -1024.55, -599.13), // -132.24 + 11.5609 +// Eigen::Vector3d(-120.9298, -1024.53, -680.57), // -132.24 + 11.3102 +// Eigen::Vector3d(-121.3208, -1098.14, -680.15) // -132.28 + 10.9592 +//}; + +//std::vector P1 = { +// Eigen::Vector3d(453.65, -1373.59, -203.9069), // -130.33 - 73.5769 +// Eigen::Vector3d(462.86, -1228.2 , -206.8159), // -130.42 - 76.3959 +// Eigen::Vector3d(723.65, -1228.18, -206.21), // -130.4 - 75.81 +// Eigen::Vector3d(755.82, -481.713, -967.43), // -385.57 - 96.143 +// Eigen::Vector3d(756.2 , -481.9407, -1000.99), // -385.56 - 96.3807 +// Eigen::Vector3d(347.96, -484.8419, -1000.87), // -385.48 - 99.3619 +// Eigen::Vector3d(-120.3304, -1024.55, -599.13), // -132.24 + 11.9096 +// Eigen::Vector3d(-120.3962, -1024.52, -680.58), // -132.24 + 11.8438 +// Eigen::Vector3d(-121.0291, -1098.13, -680.17) // -132.27 + 11.2409 +//}; + +void oneArea()//:) { - // Define 3D points for Cube 1 - std::vector P1 = { - Eigen::Vector3d(453.64, -1373.59, -203.9841), // -130.33 - 73.6541 - Eigen::Vector3d(462.86, -1228.2 , -206.8113), // -130.42 - 76.3913 - Eigen::Vector3d(723.69, -1228.2 , -206.3582), // -130.43 - 75.9282 - Eigen::Vector3d(755.77, -447.5516, -967.41), // -385.56 - 61.9916 - Eigen::Vector3d(756.7 , -447.9429, -999.2), // -385.56 - 62.3829 - Eigen::Vector3d(347.92, -450.0665, -1000.87), // -385.48 - 64.5865 - Eigen::Vector3d(-120.6791, -1024.55, -599.13), // -132.24 + 11.5609 - Eigen::Vector3d(-120.9298, -1024.53, -680.57), // -132.24 + 11.3102 - Eigen::Vector3d(-121.3208, -1098.14, -680.15) // -132.28 + 10.9592 + Eigen::Vector3d A1(755.77, -447.5516, -967.41), A2(756.7, -447.9429, -999.2), A3(347.92, -450.0665, -1000.87); + Eigen::Vector3d B1(755.82, -481.713, -967.43), B2(756.2, -481.9407, -1000.99), B3(347.96, -484.8419, -1000.87); + + // ¼ÆËãÆ«ÒÆÁ¿ + Eigen::Vector3d translation = calculateTranslation(A1, A2, A3, B1, B2, B3); + std::cout << "Translation: \n" << translation << std::endl; + + Eigen::Matrix3d rotationMatrix = calculateRotationMatrix(A1, A2, A3, B1, B2, B3); + Eigen::Vector3d eulerAngles = calculateEulerAngles(rotationMatrix); + std::cout << "Euler Angles (Yaw, Pitch, Roll): \n" << eulerAngles << std::endl; +} +void threeArea()//:( +{ + std::vector A_points = { + {453.64, -1373.59, -203.9841}, {462.86, -1228.2 , -206.8113}, {723.69, -1228.2 , -206.3582}, // Ãæ 1 + {755.77, -447.5516, -967.41}, {756.7 , -447.9429, -999.2}, {347.92, -450.0665, -1000.87}, // Ãæ 2 + {-120.6791, -1024.55, -599.13}, {-120.9298, -1024.53, -680.57}, {-121.3208, -1098.14, -680.15} // Ãæ 3 }; - - // Define 3D points for Cube 2 - std::vector P2 = { - Eigen::Vector3d(453.64, -1373.59, -203.9841), // -130.33 - 73.6541 - Eigen::Vector3d(462.86, -1228.2 , -206.8113), // -130.42 - 76.3913 - Eigen::Vector3d(723.69, -1228.2 , -206.3582), // -130.43 - 75.9282 - Eigen::Vector3d(755.77, -447.5516, -967.41), // -385.56 - 61.9916 - Eigen::Vector3d(756.7 , -447.9429, -999.2), // -385.56 - 62.3829 - Eigen::Vector3d(347.92, -450.0665, -1000.87), // -385.48 - 64.5865 - Eigen::Vector3d(-120.6791, -1024.55, -599.13), // -132.24 + 11.5609 - Eigen::Vector3d(-120.9298, -1024.53, -680.57), // -132.24 + 11.3102 - Eigen::Vector3d(-121.3208, -1098.14, -680.15) // -132.28 + 10.9592 + std::vector B_points = { + {453.65, -1373.59, -203.9069}, {462.86, -1228.2 , -206.8159}, {347.96, -484.8419, -1000.87}, // Ãæ 1 + {755.82, -481.713, -967.43}, {756.2 , -481.9407, -1000.99}, {347.92, -450.0665, -1000.8}, // Ãæ 2 + {-120.3304, -1024.55, -599.13}, {-120.3962, -1024.52, -680.58}, {-121.0291, -1098.13, -680.17} // Ãæ 3 }; + // ¼ÆËãÖÊÐÄ£¨ÓÃÓÚ¼ÆËãƽÒÆÁ¿£© + Eigen::Vector3d centroidA = calculateCentroid(A_points); + Eigen::Vector3d centroidB = calculateCentroid(B_points); + Eigen::Vector3d translation = centroidB - centroidA; + std::cout << "Translation: \n" << translation << std::endl; - // Compute the affine transformation matrix - Eigen::Matrix affine = computeAffine3D(P1, P2); + // ¼ÆËãÐýת¾ØÕóºÍÅ·À­½Ç + Eigen::Matrix3d R_AB = calculateRotationMatrixSVD(A_points, B_points); + Eigen::Vector3d eulerAngles = calculateEulerAngles(R_AB); + std::cout << "Euler Angles (Yaw, Pitch, Roll): \n" << eulerAngles << std::endl; - // Extract translation vector and rotation matrix - Eigen::Matrix R = affine.block<3, 3>(0, 0); - Eigen::Vector3d t = affine.block<3, 1>(0, 3); - - // Print affine transformation matrix - std::cout << "Affine Transformation Matrix:" << std::endl; - std::cout << affine << std::endl; - - // Print translation vector - std::cout << "Translation: (" << t[0] << ", " << t[1] << ", " << t[2] << ")" << std::endl; - - // Convert rotation matrix to Euler angles - Eigen::Vector3d euler_angles = R.eulerAngles(0, 1, 2); - std::cout << "Rotation (Euler Angles): (" << euler_angles[0] << ", " << euler_angles[1] << ", " << euler_angles[2] << ")" << std::endl; - double x = 687.376 + t[0]; - double y = -147.500 + t[1]; - double z = 328.880 + t[2]; - double rx = -90 + euler_angles[0] * 180.0 / 3.1415926; - double ry = euler_angles[1] * 180.0 / 3.1415926; - double rz = -90.000 + euler_angles[2] * 180.0 / 3.1415926; - return 0; } #pragma once \ No newline at end of file diff --git a/HanddleAI/HandleAiUi-new/halconAlgo/Inspection_apexSmall.hpp b/HanddleAI/HandleAiUi-new/halconAlgo/Inspection_apexSmall.hpp index 5ef90abb..110f7592 100644 --- a/HanddleAI/HandleAiUi-new/halconAlgo/Inspection_apexSmall.hpp +++ b/HanddleAI/HandleAiUi-new/halconAlgo/Inspection_apexSmall.hpp @@ -4,18 +4,18 @@ using namespace HalconCpp; // Procedure declarations -void Get_Pin_Region(HObject ho_in_Image, HObject ho_in_PinRegion, HObject ho_in_HpinRegion, +void Get_APEXSMALLPin_Region(HObject ho_in_Image, HObject ho_in_PinRegion, HObject ho_in_HpinRegion, HObject* ho_out_Pin_Region, HObject* ho_out_PincenterLine, HTuple hv_in_BaseLenth, HTuple hv_in_Seledge, HTuple hv_in_expand, HTuple* hv_out_Flag, HTuple* hv_out_Ngtails); -void Get_Rectangle2_Corner(HObject ho_Rectangle, HTuple* hv_out_Row, HTuple* hv_out_Col); -void sk2_ASR_Pin(HObject ho_Image, HTuple* hv_Out_Line, HTuple* hv_Out_ok_pin, HTuple* hv_Out_Ng_pin, +void Get_APEXSMALLRectangle2_Corner(HObject ho_Rectangle, HTuple* hv_out_Row, HTuple* hv_out_Col); +void sk2_APEXSMALL_Pin(HObject ho_Image, HTuple* hv_Out_Line, HTuple* hv_Out_ok_pin, HTuple* hv_Out_Ng_pin, HTuple* hv_Out_Pins, HTuple* hv_Out_number, HTuple* hv_Make); void sk2_Get_region(HObject ho_Image, HObject* ho_Out_region1, HObject* ho_Out_region2, HTuple* hv_Make); -void sk2_Pin_Detect(HObject ho_Image, HObject ho_region, HObject* ho_Out_Line_region, +void sk2_APEXSMALLPin_Detect(HObject ho_Image, HObject ho_region, HObject* ho_Out_Line_region, HObject* ho_Out_Pin_region, HTuple* hv_Make); // Procedures -void Get_Pin_Region(HObject ho_in_Image, HObject ho_in_PinRegion, HObject ho_in_HpinRegion, +void Get_APEXSMALLPin_Region(HObject ho_in_Image, HObject ho_in_PinRegion, HObject ho_in_HpinRegion, HObject* ho_out_Pin_Region, HObject* ho_out_PincenterLine, HTuple hv_in_BaseLenth, HTuple hv_in_Seledge, HTuple hv_in_expand, HTuple* hv_out_Flag, HTuple* hv_out_Ngtails) { @@ -70,7 +70,7 @@ void Get_Pin_Region(HObject ho_in_Image, HObject ho_in_PinRegion, HObject ho_in_ &hv_Length21); GenRectangle2(&ho_Rectangle1, hv_Row1, hv_Column1, hv_Phi1, hv_Length11 + 50, hv_Length21 + 40); - Get_Rectangle2_Corner(ho_Rectangle1, &hv_out_Row, &hv_out_Col); + Get_APEXSMALLRectangle2_Corner(ho_Rectangle1, &hv_out_Row, &hv_out_Col); LineOrientation(HTuple(hv_out_Row[2]), HTuple(hv_out_Col[2]), HTuple(hv_out_Row[3]), HTuple(hv_out_Col[3]), &hv_Phi); hv_Point_Row = HTuple(); @@ -283,7 +283,7 @@ void Get_Pin_Region(HObject ho_in_Image, HObject ho_in_PinRegion, HObject ho_in_ return; } -void Get_Rectangle2_Corner(HObject ho_Rectangle, HTuple* hv_out_Row, HTuple* hv_out_Col) +void Get_APEXSMALLRectangle2_Corner(HObject ho_Rectangle, HTuple* hv_out_Row, HTuple* hv_out_Col) { // Local iconic variables @@ -295,7 +295,7 @@ void Get_Rectangle2_Corner(HObject ho_Rectangle, HTuple* hv_out_Row, HTuple* hv_ HTuple hv_rowSortIndex, hv_Exception; //********************************************************************** - //Function Name: Get_Rectangle2_Corner + //Function Name: Get_APEXSMALLRectangle2_Corner //Author: ������ //Description: ��ȡ��������Ķ�������,(4����) //Input: @@ -431,7 +431,7 @@ void sk2_Get_region(HObject ho_Image, HObject* ho_Out_region1, HObject* ho_Out_r return; } -void sk2_Pin_Detect(HObject ho_Image, HObject ho_region, HObject* ho_Out_Line_region, +void sk2_APEXSMALLPin_Detect(HObject ho_Image, HObject ho_region, HObject* ho_Out_Line_region, HObject* ho_Out_Pin_region, HTuple* hv_Make) { @@ -503,7 +503,7 @@ void sk2_Pin_Detect(HObject ho_Image, HObject ho_region, HObject* ho_Out_Line_re 5000); SelectShape(ho_SelectedRegions2, &ho_SelectedRegions8, "ratio", "and", 0, 78.543); - Get_Pin_Region(ho_Image, ho_ImageReduced2, ho_SelectedRegions8, &ho_out_Pin_Region, + Get_APEXSMALLPin_Region(ho_Image, ho_ImageReduced2, ho_SelectedRegions8, &ho_out_Pin_Region, &ho_out_PincenterLine, 2, 2, 11, &hv_out_Flag, &hv_out_Ngtails); //��ȡ�������� @@ -541,7 +541,7 @@ void sk2_Pin_Detect(HObject ho_Image, HObject ho_region, HObject* ho_Out_Line_re SelectShape(ho_ConnectedRegions2, &ho_SelectedRegions1, "height", "and", 10.1, 100); - Get_Pin_Region(ho_Image, ho_ImageReduced4, ho_SelectedRegions1, &ho_out_Pin_Region1, + Get_APEXSMALLPin_Region(ho_Image, ho_ImageReduced4, ho_SelectedRegions1, &ho_out_Pin_Region1, &ho_out_PincenterLine1, 2, 1, 23, &hv_out_Flag1, &hv_out_Ngtails1); CountObj(ho_out_Pin_Region, &hv_Number); @@ -572,7 +572,7 @@ void sk2_Pin_Detect(HObject ho_Image, HObject ho_region, HObject* ho_Out_Line_re return; } -void sk2_ASR_Pin(HObject ho_Image, HTuple* hv_Out_Line, HTuple* hv_Out_ok_pin, HTuple* hv_Out_Ng_pin, +void sk2_APEXSMALL_Pin(HObject ho_Image, HTuple* hv_Out_Line, HTuple* hv_Out_ok_pin, HTuple* hv_Out_Ng_pin, HTuple* hv_Out_Pins, HTuple* hv_Out_number, HTuple* hv_Make) { @@ -612,10 +612,10 @@ void sk2_ASR_Pin(HObject ho_Image, HTuple* hv_Out_Line, HTuple* hv_Out_ok_pin, H sk2_Get_region(ho_Image, &ho_Out_region1, &ho_Out_region2, &hv_Make3); if (0 != (int(hv_Make3 == 1))) { - sk2_Pin_Detect(ho_Image, ho_Out_region1, &ho_Out_Line_region, &ho_Out_Pin_region, + sk2_APEXSMALLPin_Detect(ho_Image, ho_Out_region1, &ho_Out_Line_region, &ho_Out_Pin_region, &hv_Make1); - sk2_Pin_Detect(ho_Image, ho_Out_region2, &ho_Out_Line_region1, &ho_Out_Pin_region1, + sk2_APEXSMALLPin_Detect(ho_Image, ho_Out_region2, &ho_Out_Line_region1, &ho_Out_Pin_region1, &hv_Make2); if (0 != (HTuple(int(hv_Make1 == 1)).TupleAnd(int(hv_Make2 == 1)))) diff --git a/HanddleAI/HandleAiUi-new/main.cpp b/HanddleAI/HandleAiUi-new/main.cpp index 288f1f33..a80d82d5 100644 --- a/HanddleAI/HandleAiUi-new/main.cpp +++ b/HanddleAI/HandleAiUi-new/main.cpp @@ -149,7 +149,6 @@ void connectSignalAndSlots(MainWindow* front, appCore* _core, detProcess* _detPr appCore _core; int main(int argc, char* argv[]) { - oevaluate(); if (!isRunAsAdmin()) { restartAsAdmin(); diff --git a/lib/Hd_3DCameraLMI_module_PointLazer.exp b/lib/Hd_3DCameraLMI_module_PointLazer.exp index c128f721899e1a2fd5f5ffe10a0335da718ee8af..d8e955a08830ce97f26c66b802d0659eea1b677e 100644 GIT binary patch delta 53 zcmZo+Yhl}9!N}-2*^<$VMV;Yu)8uwWIUsi#qb6hUUkH^Ptn_hnE-_7?>uX wWRjj-#99wirapNBI|o$hWCyl5&b6m&4}62FG@E>vtp}!38LD#gEOswO00)UE^Z)<= diff --git a/lib/Hd_DalsaCamera_module.exp b/lib/Hd_DalsaCamera_module.exp index d51dd3479f00019389da4252121bf314da3584cb..27cfbc168fcf45adf98783ffef0c6a66d4ad2515 100644 GIT binary patch delta 96 zcmaFQ`kr-z9wVdYWPL_^Wp#$nO$-danaM@@#rbI^3K~J03O=5G-VE6cwt@`Fha6({12NTP2)AOe%_b}~YQD^wvG}(taoe4U!8q3ha6({12NR3#l2yki_b}~YQDewzob1D#&IF|7*`+q0XO?DU7G=zs{FY@ZOj3RF rT2>CIg2@+IV_DC4{(bR!@_QEf$!nOTC+D&?!c;0lRc@AN*JK0$_5&nj diff --git a/lib/Hd_FinsTcp_module.exp b/lib/Hd_FinsTcp_module.exp index 632439471feaa9f2527a170eba4dfc45d83dc2b2..8842446e1ca7d74eaf131fa9904afaa3c5dcc781 100644 GIT binary patch delta 71 zcmaFP`kZxx79*qQWNk)k7IlWtO_Q@2<$&ByMosx(BLgF&m@wyrWXazJh;qo#bZk%5s>Oqg>_NPd1!ag1*;kZEY5 XXKbNoY;0(3F!>^*6BAH_DAOeX*^?BM diff --git a/lib/Hd_FinsTcp_module.lib b/lib/Hd_FinsTcp_module.lib index e7784b3ea75952388bfd4c57a0b8fb3be8e54022..f679fdae9df129fa1e4d394f63100284f9d61348 100644 GIT binary patch delta 113 zcmbOrFhO8L2@~f(^@6+dj0_AMllj@qCU0h{Wl?AN+%!3kRef?avkeoF+0QDqc{8&x wBa6wYtap=7u}pxe(1*yDvp75wyE2)JZ3j$3nad$LKes?HGX<)hmz|jr0D+b!iU0rr delta 113 zcmbOrFhO8L2@@xiS>+3PMg|6s$^2|)lQ%QfvZyg+HBOFWRi7NqY{LX(_OnWD-pnk_ w$nsyM=EdYwEE8ZV^dYk4EOPCyj!oub+X0hM=5k2R&n?i)Oo3|WWoKpt0HB~E>;M1& diff --git a/lib/Hd_MvCamera_module_GENTL.exp b/lib/Hd_MvCamera_module_GENTL.exp index f0a89b553a1d128975c713a0fcafda275f8da276..ebd6dce5c4074d58a4d8a8aeb34c9ed2980064e3 100644 GIT binary patch delta 53 zcmeyu`h|6a0VAX5WJ5+L7IlWtO_R$R<$&C2jGBzWlMgV8vs>yJ8=D$hPQJ(J!~~R9 HV!8wXwQvw| delta 53 zcmeyu`h|6a0VAW^WJ5+L7Bz;f#>wT3azO4hMoq@z$p;w4*)8;pjSYyJ8=D$hPQJ_N!~~R9 HWV!?Zw0;n2 delta 53 zcmey&`k8fu0VAW^WJ5+r7Bz;f#>r)jazO4>Moq@z$@>|_*)8;pjSYXYl4otS{k)2vdP?=s6XvY5Ryxjl(> s8ccycM6#SUOQrAa+sTZq@{`lp=D}o@xg3)7a|`q`Q=mrpvx_nU04H}TWB>pF delta 108 zcmaDN@I+w4Bqo;p>l@!pp2oC~MU5e=aq=uy^~v?jPE0`NX;!JtcbVlGS)TPV-XJB3aIQ)aT5(x04xJn+a diff --git a/lib/Hd_ResultsSummary_module.exp b/lib/Hd_ResultsSummary_module.exp index 72272a70ead1c7a3023873a763f290b25f1c8a31..98647907b2b4e1df2047e01da5a2bdbd7906bfd5 100644 GIT binary patch delta 53 zcmeyu`h|6a0VAX5WJ5+L7IlWtO_R$R<$&C2jGBzWlMgV8vs>yJ8=D$hPQJ(J!~~R9 HV!8wXwQvw| delta 53 zcmeyu`h|6a0VAW^WJ5+L7Bz;f#>wT3azO4hMoq@z$p;w4*)8;pjSY`}O0&tmY%MUA$_SOxn`7C<83B{oC#(Pf diff --git a/lib/Hd_SocketModule_ModbusTcp.exp b/lib/Hd_SocketModule_ModbusTcp.exp index 25890329510762a3f51d55c44ebc1ed66568465a..30c37bd291ea123424cd8e8b26775ebc78ae748e 100644 GIT binary patch delta 72 zcmcc1eV2QK3lpQ~WLG9<7IlWtO_O_=b#y&zL?pZNAOS!~_5_KNj}@ delta 72 zcmcc1eV2QK3lpQ;WLG9<7Bz;f#>qWQazO5CCQbQbBLgF&m@wyN7c@4(_u=wNxPHmXh?VS6W0bcJXg#Z8m delta 108 zcmew+^-XHSI~LA!vnzk