visionPro高级应用理解

高级应用理解

小提示：

进行模板匹配的时候坚持三个原则：最稳定特征（保证抓取稳定），三足鼎立（选取三个角），选取最少的部分（降低模板匹配的耗时时间）

案例1：现在用两个直线拟合一条直线

现在的错误做法：从每条直线里面提取第一个点作为拟合直线的输入点。

正确做法：将每一个拟合点加入FitLine工具的使用点里面

  public override bool GroupRun(ref string message, ref CogToolResultConstants result)
  {
    CogFitLineTool FitLinel =mToolBlock.Tools["CogFitLineTooll"]as CogFitLineTool;
    while(FitLinel.RunParams.NumPoints > 0)
    {
        FitLinel.RunParams.DeletePoint(0);
    }    
    if(FitLinel.RunParams.NumPoints == 0)
    {
      foreach(ICogTool tool in mToolBlock.Tools)
      {
        tool.Run();       
        if (tool.Name.Contains("CogFindLineTool"))
        {
          CogFindLineTool FindLine = tool as CogFindLineTool;    
          for(int i = 0;i < FindLine.Results.NumPointsUsed;i++)
            FitLinel.RunParams.AddPoint(FindLine.Results[i].X, FindLine.Results[i].Y);
        }
        
      }
    }
    return false;
  }

案例2：Blob+卡尺遍历

#region namespace imports
using System;
using System.Collections;
using System.Drawing;
using System.IO;
using System.Windows.Forms;
using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using Cognex.VisionPro3D;
using Cognex.VisionPro.Blob;
using Cognex.VisionPro.Caliper;
#endregion

public class CogToolBlockAdvancedScript : CogToolBlockAdvancedScriptBase
{
  #region Private Member Variables
  private Cognex.VisionPro.ToolBlock.CogToolBlock mToolBlock;
  #endregion
ArrayList list =new ArrayList();
  /// <summary>
  /// Called when the parent tool is run.
  /// Add code here to customize or replace the normal run behavior.
  /// </summary>
  /// <param name="message">Sets the Message in the tool's RunStatus.</param>
  /// <param name="result">Sets the Result in the tool's RunStatus</param>
  /// <returns>True if the tool should run normally,
  ///          False if GroupRun customizes run behavior</returns>
  public override bool GroupRun(ref string message, ref CogToolResultConstants result)
  {
    // To let the execution stop in this script when a debugger is attached, uncomment the following lines.
    // #if DEBUG
     if (System.Diagnostics.Debugger.IsAttached) System.Diagnostics.Debugger.Break();
    // #endif
    ///Run each tool using the RunTool function
    ///foreach(ICogTool tool in mToolBlock.Tools)
    ///mToolBlock.RunTool(tool,ref message,ref result);
    try
    {
      list.Clear();
      CogBlobTool Blobl = mToolBlock.Tools["CogBlobTool1"]as CogBlobTool;
      CogCaliperTool Caliperl = mToolBlock.Tools["CogCaliperTool1"]as CogCaliperTool;
      CogRectangleAffine Rectangle = (CogRectangleAffine) Caliperl.Region;
      foreach(ICogTool tool in mToolBlock.Tools)
      Blobl.Run();
      foreach(CogBlobResult BlobResult in Blobl.Results.GetBlobs())
      {
        Rectangle.CenterX = BlobResult.CenterOfMassX;
        Rectangle.CenterY = BlobResult.CenterOfMassY;
        Caliperl.Run();
        if(Caliperl.Results.Count != 0)
        {
          CogGraphicLabel Label = new CogGraphicLabel();
          Label.Color = CogColorConstants.Red;
          Label.Font = new Font("楷体",12);
          Label.SetXYText(BlobResult.CenterOfMassX, BlobResult.CenterOfMassY, "长度: " + Caliperl.Results[0].Width.ToString("f2"));
          list.Add(Label);
        }         
        else
        {
          CogGraphicLabel Label =new CogGraphicLabel();
          Label.Color = CogColorConstants.Red;
          Label.Font = new Font("楷体",12);
          Label.SetXYText(200, 10, "未找到边缘");
         list.Add(Label);
        }       
      }
    }
    catch (Exception ex)
    {
      CogGraphicLabel Label = new CogGraphicLabel();
      Label.Color = CogColorConstants.Red;
      Label.Font = new Font("楷体",12);
      Label.SetXYText(200, 10, "未找到边缘");
      list.Add(Label);
    }
   
  
    return false;
  }

  #region When the Current Run Record is Created
  /// <summary>
  /// Called when the current record may have changed and is being reconstructed
  /// </summary>
  /// <param name="currentRecord">
  /// The new currentRecord is available to be initialized or customized.</param>
  public override void ModifyCurrentRunRecord(Cognex.VisionPro.ICogRecord currentRecord)
  {
   
  }
  #endregion

  #region When the Last Run Record is Created
  /// <summary>
  /// Called when the last run record may have changed and is being reconstructed
  /// </summary>
  /// <param name="lastRecord">
  /// The new last run record is available to be initialized or customized.</param>
  public override void ModifyLastRunRecord(Cognex.VisionPro.ICogRecord lastRecord)
  {
    foreach (ICogGraphic graphic in list)
    {
      mToolBlock.AddGraphicToRunRecord(graphic, lastRecord, "CogIPOneImageTool1.OutputImage", "script");
    }
   
  }
  #endregion

  #region When the Script is Initialized
  /// <summary>
  /// Perform any initialization required by your script here
  /// </summary>
  /// <param name="host">The host tool</param>
  public override void Initialize(Cognex.VisionPro.ToolGroup.CogToolGroup host)
  {
    // DO NOT REMOVE - Call the base class implementation first - DO NOT REMOVE
    base.Initialize(host);


    // Store a local copy of the script host
    this.mToolBlock = ((Cognex.VisionPro.ToolBlock.CogToolBlock)(host));
  }
  #endregion

}

这个原理说一下：将Blob区域作为仿射矩形。然后使用Blob工具获取到仿射矩形，然后使用仿射矩形的中心作为卡尺工具的区域中心。

案例3：模板匹配+卡尺遍历

图像效果

#region namespace imports
using System;
using System.Collections;
using System.Drawing;
using System.IO;
using System.Windows.Forms;
using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using Cognex.VisionPro3D;
using Cognex.VisionPro.ImageProcessing;
using Cognex.VisionPro.PMAlign;
using Cognex.VisionPro.Caliper;
#endregion

public class CogToolBlockAdvancedScript : CogToolBlockAdvancedScriptBase
{
  #region Private Member Variables
  private Cognex.VisionPro.ToolBlock.CogToolBlock mToolBlock;
  #endregion
  ArrayList ListLabel = new ArrayList();

  /// <summary>
  /// Called when the parent tool is run.
  /// Add code here to customize or replace the normal run behavior.
  /// </summary>
  /// <param name="message">Sets the Message in the tool's RunStatus.</param>
  /// <param name="result">Sets the Result in the tool's RunStatus</param>
  /// <returns>True if the tool should run normally,
  ///          False if GroupRun customizes run behavior</returns>
  public override bool GroupRun(ref string message, ref CogToolResultConstants result)
  {
    // To let the execution stop in this script when a debugger is attached, uncomment the following lines.
    // #if DEBUG
     if (System.Diagnostics.Debugger.IsAttached) System.Diagnostics.Debugger.Break();
    // #endif
    
    try
    {
      ListLabel.Clear();
      CogPMAlignTool PMAlignl = mToolBlock.Tools["CogPMAlignTool1"]as CogPMAlignTool;
      CogCaliperTool Caliperl = mToolBlock.Tools["CogCaliperTool1"]as CogCaliperTool;
      
      CogCaliperTool Caliper2 = mToolBlock.Tools["CogCaliperTool2"]as CogCaliperTool;
      CogRectangleAffine Rectangle1 = (CogRectangleAffine) Caliperl.Region;
      CogRectangleAffine Rectangle2 = (CogRectangleAffine) Caliper2.Region;
      PMAlignl.Run();
      for(int i = 0;i < PMAlignl.Results.Count;i++)
      {
        Rectangle1.CenterX = PMAlignl.Results[i].GetPose().TranslationX;
        Rectangle1.CenterY = PMAlignl.Results[i].GetPose().TranslationY;
        Rectangle1.Rotation = PMAlignl.Results[i].GetPose().Rotation;
        
        Rectangle2.CenterX = PMAlignl.Results[i].GetPose().TranslationX;
        Rectangle2.CenterY = PMAlignl.Results[i].GetPose().TranslationY;
        Rectangle2.Rotation = PMAlignl.Results[i].GetPose().Rotation;
        
        Caliperl.Run();
        Caliper2.Run();
        
        if(Caliperl.Results.Count > 0)
        {
          CogGraphicLabel Label = new CogGraphicLabel();
          Label.Color = CogColorConstants.Blue;
          Label.Font = new Font("楷体", 12);
          Label.SetXYText(PMAlignl.Results[i].GetPose().TranslationX+50, PMAlignl.Results[i].GetPose().TranslationY+25, Caliperl.Results[0].Width.ToString("f2"));
          ListLabel.Add(Label);
        }     
        else
        {
          CogGraphicLabel Label = new CogGraphicLabel();
          Label.Color = CogColorConstants.Blue;
           Label.Font = new Font("楷体", 12);
          Label.SetXYText(100, 100, "异常");
          ListLabel.Add(Label);
        }
        
        if(Caliper2.Results.Count > 0)
        {
          CogGraphicLabel Label = new CogGraphicLabel();
          Label.Color = CogColorConstants.Cyan;
          Label.Font = new Font("楷体", 12);
          Label.SetXYText(PMAlignl.Results[i].GetPose().TranslationX-50, PMAlignl.Results[i].GetPose().TranslationY-25, Caliper2.Results[0].Width.ToString("f2"));
          ListLabel.Add(Label);
        }     
        else
        {
          CogGraphicLabel Label = new CogGraphicLabel();
          Label.Color = CogColorConstants.Blue;
          Label.Font = new Font("楷体", 12);
          Label.SetXYText(100, 100, "异常");
          ListLabel.Add(Label);
        }
        
      
      }
     
    }
    catch (Exception ex)
    {
      CogGraphicLabel Label = new CogGraphicLabel();
      Label.Color = CogColorConstants.Red;
      Label.Font = new Font("楷体", 12);
      Label.SetXYText(200, 10, "未找到边缘");
      ListLabel.Add(Label);
    }
   
  
    return false;
  }
  

  #region When the Current Run Record is Created
  /// <summary>
  /// Called when the current record may have changed and is being reconstructed
  /// </summary>
  /// <param name="currentRecord">
  /// The new currentRecord is available to be initialized or customized.</param>
  public override void ModifyCurrentRunRecord(Cognex.VisionPro.ICogRecord currentRecord)
  {
  }
  #endregion

  #region When the Last Run Record is Created
  /// <summary>
  /// Called when the last run record may have changed and is being reconstructed
  /// </summary>
  /// <param name="lastRecord">
  /// The new last run record is available to be initialized or customized.</param>
  public override void ModifyLastRunRecord(Cognex.VisionPro.ICogRecord lastRecord)
  {
    foreach (ICogGraphic graphic in ListLabel)
    {
      mToolBlock.AddGraphicToRunRecord(graphic, lastRecord, "CogIPOneImageTool1.OutputImage", "script");
    }
  }
  #endregion

  #region When the Script is Initialized
  /// <summary>
  /// Perform any initialization required by your script here
  /// </summary>
  /// <param name="host">The host tool</param>
  public override void Initialize(Cognex.VisionPro.ToolGroup.CogToolGroup host)
  {
    // DO NOT REMOVE - Call the base class implementation first - DO NOT REMOVE
    base.Initialize(host);


    // Store a local copy of the script host
    this.mToolBlock = ((Cognex.VisionPro.ToolBlock.CogToolBlock)(host));
  }
  #endregion

}

案例4：PMA粗定位+几何精定位

案例5：图像处理+ PMA精定位

进行医疗瓶盖读码操作

Q：为啥要进行图像处理?

A:我们其实是希望，使用图像预处理的膨胀操作，然后将其变成一大坨。然后使用Blob进行定位，然后最后进行读码操作

案例6：图像处理+ PMA粗定位+Blob精定位

大致说明下：

PMA粗定位用来定位瓶盖，然后Blob用来定位读码区域（这里是用两个Blob定位两行编码的区域，和上个案例的PMA工具基本相同）