using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading;
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using System.Windows.Forms;
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using HalconDotNet;
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namespace HalconTools
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{
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public class HalconTool
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{
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#region 各种单方法以及定义
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#region 定义
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public HWndCtrl viewController;
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public ListenEventCreater resultCreater = new ListenEventCreater();
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public struct FindLineResult
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{
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public string SerialNumer;
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public FitLineResult fitLineResult;
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}
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public struct FindCircleResult
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{
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public string SerialNumber;
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public FitCircleResult fitCircleResult;
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}
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public struct PatternMatchResult
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{
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public string SerialNumber;
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public MatchingResult matchingResult;
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}
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public struct FindContourResult
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{
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public string SerialNumber;
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public ContourResult contourResult;
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}
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public List<FindLineResult> findLineResults = new List<FindLineResult>();
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public List<FindCircleResult> findCircleResults = new List<FindCircleResult>();
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public List<PatternMatchResult> patternMatchResults = new List<PatternMatchResult>();
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public FindLineResult findLineResult = new FindLineResult();
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public FindCircleResult findCircleResult = new FindCircleResult();
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public PatternMatchResult patternMatchResult = new PatternMatchResult();
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public FindContourResult contourResult = new FindContourResult();
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public FitAssistant mFitAssistant = new FitAssistant();
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public HImage image;
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public FitLineResult result;
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public MatchingAssistant mMatchingAssistant = new MatchingAssistant();
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public ContourAssistant mContourAssistant = new ContourAssistant();
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public FitLineParam fitLinePara = new FitLineParam();
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public FitCircleParam fitCirclePara = new FitCircleParam();
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public MatchingParam matchingPara = new MatchingParam();
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public ContourParam contourPara = new ContourParam();
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public HImage hImage;
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public List<FitLineParam> fitLineParas = new List<FitLineParam>();
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public List<FitCircleParam> fitCircleParas = new List<FitCircleParam>();
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SerializeFileTool<List<FitLineParam>> sft1 = new SerializeFileTool<List<FitLineParam>>();
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SerializeFileTool<List<FitCircleParam>> sft2 = new SerializeFileTool<List<FitCircleParam>>();
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#endregion
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#region 初始化
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public void initHalconTool()
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{
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mFitAssistant.FitLineDone += new FitLineDelegate(mFitAssistant_FitLineDone);
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mFitAssistant.FitCircleDone += new FitCircleDelegate(mFitAssistant_FitCircleDone);
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mFitAssistant.NotifyIconObserverMessage += new FitMessageDelegate(mFitAssistant_NotifyIconObserverMessage);
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mMatchingAssistant.FindShapeModelDone += new FindShapeModelDelegate(mMatchingAssistant_FindShapeModelDone);
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mContourAssistant.ContourDone += new ContourDelegate(mContourAssistant_ContourDone);
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//mMatchingAssistant .NotifyIconObserver+=
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string FolderPath = Application.StartupPath + "\\FitConfig";
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string FilePath;
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FilePath = FolderPath + "\\fitLineConfig.xml";
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fitLineParas = sft1.GetConfig(FilePath);
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FilePath = FolderPath + "\\fitCircleConfig.xml";
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fitCircleParas = sft2.GetConfig(FilePath);
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}
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public HalconTool()
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{
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JobImage = new HImage();
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mFitAssistant = new FitAssistant();
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mMatchingAssistant = new MatchingAssistant();
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initHalconTool();
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}
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/// <summary>
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///
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/// </summary>
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/// <param name="viewPort">fit算法的窗口</param>
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/// <param name="ModuleNum">匹配的模板数量</param>
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public HalconTool(HWindowControl viewPort, int ModuleNum)
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{
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mFitAssistant = new FitAssistant(viewPort);
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mMatchingAssistant = new MatchingAssistant(ModuleNum);
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initHalconTool();
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}
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/// <summary>
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///
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/// </summary>
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/// <param name="viewPort">fit算法的窗口</param>
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public HalconTool(HWindowControl viewPort)
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{
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mFitAssistant = new FitAssistant(viewPort);
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initHalconTool();
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}
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/// <summary>
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///
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/// </summary>
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/// <param name="ModuleNum">匹配的模板数量</param>
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public HalconTool(int ModuleNum)
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{
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mMatchingAssistant = new MatchingAssistant(ModuleNum);
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initHalconTool();
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}
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#endregion
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#region 消息处理部分
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void mFitAssistant_FitCircleDone(object sender, HImage image, FitCircleResult result)
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{
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if (findCircleResults == null) findCircleResults = new List<FindCircleResult>();
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findCircleResult.fitCircleResult = result;
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findCircleResults.Add(findCircleResult);
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//反馈消息
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resultCreater.ChangeValue(new EventData("FindCircleDone"));
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}
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void mFitAssistant_FitLineDone(object sender, HImage image, FitLineResult result)
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{
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////画上找到的结果
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//mFitAssistant.FitLineGraphics(mFitAssistant.viewController, image, result);
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//结果处理
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if (findLineResults == null) findLineResults = new List<FindLineResult>();
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findLineResult.fitLineResult = result;
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findLineResults.Add(findLineResult);
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//反馈消息
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resultCreater.ChangeValue(new EventData("FindLineDone"));
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}
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void mMatchingAssistant_FindShapeModelDone(object sender, HImage image, MatchingResult result)
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{
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if (patternMatchResults == null) patternMatchResults = new List<PatternMatchResult>();
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patternMatchResult.matchingResult = result;
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patternMatchResults.Add(patternMatchResult);
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resultCreater.ChangeValue(new EventData("MatchDone"));
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}
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void mFitAssistant_NotifyIconObserverMessage(int value)
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{
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//反馈没有找到的消息
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resultCreater.ChangeValue(new EventData("CanNotFind"));
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}
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void mContourAssistant_ContourDone(object sender, HImage image, ContourResult result)
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{
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contourResult.contourResult = result;
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resultCreater.ChangeValue(new EventData("ContourDone"));
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}
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#endregion
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#region 找线找圆部分
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/// <summary>
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/// 找直线
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/// </summary>
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/// <param name="sn">序列号</param>
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/// <param name="image">Halcon图像</param>
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/// <param name="para">找直线参数</param>
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public void FindLine(string sn, HImage image, FitLineParam para)
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{
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findLineResult.SerialNumer = sn;
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mFitAssistant.mImage = image;
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mFitAssistant.FitLine(para);
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}
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/// <summary>
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/// 找圆
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/// </summary>
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/// <param name="sn">序列号</param>
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/// <param name="image">Halcon图像</param>
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/// <param name="para">找圆参数</param>
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public void FindCircle(string sn, HImage image, FitCircleParam para)
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{
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findCircleResult.SerialNumber = sn;
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mFitAssistant.mImage = image;
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mFitAssistant.FitCircle(para);
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}
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/// <summary>
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/// 通过全局变量参数找直线
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/// </summary>
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private void ThFindLine()
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{
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mFitAssistant.mImage = hImage;
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mFitAssistant.FitLine(fitLinePara);
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}
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/// <summary>
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/// 通过全局变量参数找圆
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/// </summary>
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private void ThFindCircle()
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{
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mFitAssistant.mImage = hImage;
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mFitAssistant.FitCircle(fitCirclePara);
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}
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/// <summary>
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/// 用进程找直线
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/// </summary>
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/// <param name="sn"></param>
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/// <param name="image"></param>
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/// <param name="para"></param>
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public void ThreadFindLine(string sn, HImage image, FitLineParam para)
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{
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hImage = image;
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fitLinePara = para;
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Thread findLineThread = new Thread(ThFindLine);
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findLineThread.Start();
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}
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/// <summary>
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/// 用进程找圆
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/// </summary>
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/// <param name="sn"></param>
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/// <param name="image"></param>
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/// <param name="para"></param>
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public void ThreadFindCircle(string sn, HImage image, FitCircleParam para)
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{
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hImage = image;
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fitCirclePara = para;
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Thread findCircleThread = new Thread(ThFindCircle);
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findCircleThread.Start();
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}
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#endregion
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#region 匹配部分
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/// <summary>
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/// 创建模板（获取模板ID）
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/// </summary>
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/// <param name="sn">序列号</param>
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/// <param name="image">图像</param>
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/// <param name="para">参数</param>
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public void CreateModule(string sn, HImage image, MatchingParam para)
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{
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patternMatchResult.SerialNumber = sn;
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mMatchingAssistant.mImage = image;
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mMatchingAssistant.parameterSet = para;
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mMatchingAssistant.createShapeModel();
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}
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/// <summary>
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/// 匹配模板（已得到模板ID）
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/// </summary>
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/// <param name="sn">序列号</param>
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/// <param name="image">图像</param>
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/// <param name="para">参数</param>
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public void FindModule(string sn, HImage image, MatchingParam para)
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{
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patternMatchResult.SerialNumber = sn;
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mMatchingAssistant.mImage = image;
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mMatchingAssistant.parameterSet = para;
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mMatchingAssistant.detectShapeModel();
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}
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/// <summary>
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/// 根据模板的地址匹配
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/// </summary>
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/// <param name="sn">序列号</param>
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/// <param name="image">图像</param>
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/// <param name="para">参数</param>
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/// <param name="modulePath">模板文件地址</param>
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public void PatterMatchWithModule(string sn, HImage image, MatchingParam para, string modulePath)
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{
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patternMatchResult.SerialNumber = sn;
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mMatchingAssistant.tImage = image;
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mMatchingAssistant.parameterSet = para;
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mMatchingAssistant.loadShapeModel(modulePath);
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mMatchingAssistant.detectShapeModel();
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}
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#endregion
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#region 找轮廓部分
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public void FindContour(string sn, HImage image, ContourParam para)
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{
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contourResult.SerialNumber = sn;
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mContourAssistant.mImage = image;
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mContourAssistant.mContourPara = para;
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mContourAssistant.Run();
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}
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#endregion
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#region 加载参数
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/// <summary>
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/// 加载匹配参数
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/// </summary>
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/// <param name="ParaPath"></param>
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public void LoadMatchingParameter(string ParaPath)
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{
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mMatchingAssistant.LoadPara(ParaPath);
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matchingPara = mMatchingAssistant.parameterSet;
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}
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/// <summary>
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/// 加载找直线的参数
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/// </summary>
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/// <param name="ParaPath">参数文件地址</param>
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public void LoadFitLineParameter(string ParaPath)
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{
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MeasureParamSave paramSave = new HalconTools.MeasureParamSave();
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paramSave = paramSave.Load(ParaPath);
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fitLinePara.hv_measure_Length1 = paramSave.hv_measure_Length1;
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fitLinePara.hv_measure_Length2 = paramSave.hv_measure_Length2;
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fitLinePara.hv_measure_sigma = paramSave.hv_measure_sigma;
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fitLinePara.hv_measure_position = paramSave.hv_measure_position;
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fitLinePara.hv_measure_transition = paramSave.hv_measure_transition;
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fitLinePara.hv_measure_number = paramSave.hv_measure_number;
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fitLinePara.hv_measure_threshold = paramSave.hv_measure_threshold;
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fitLinePara.hv_measure_interpolation = paramSave.hv_measure_interpolation;
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}
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/// <summary>
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/// 加载找圆参数
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/// </summary>
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/// <param name="ParaPath">参数文件地址</param>
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public void LoadFitCircleParameter(string ParaPath)
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{
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MeasureParamSave paramSave = new HalconTools.MeasureParamSave();
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paramSave = paramSave.Load(ParaPath);
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fitCirclePara.hv_measure_Length1 = paramSave.hv_measure_Length1;
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fitCirclePara.hv_measure_Length2 = paramSave.hv_measure_Length2;
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fitCirclePara.hv_measure_sigma = paramSave.hv_measure_sigma;
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fitCirclePara.hv_measure_position = paramSave.hv_measure_position;
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fitCirclePara.hv_measure_transition = paramSave.hv_measure_transition;
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fitCirclePara.hv_measure_number = paramSave.hv_measure_number;
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fitCirclePara.hv_measure_threshold = paramSave.hv_measure_threshold;
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fitCirclePara.hv_measure_interpolation = paramSave.hv_measure_interpolation;
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}
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/// <summary>
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/// 加载轮廓参数
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/// </summary>
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/// <param name="ParaPath">参数文件地址</param>
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public void LoadContourParameter(string ParaPath)
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{
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SerializeFileTool<ContourParam> sft = new SerializeFileTool<ContourParam>();
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contourPara = sft.GetConfig(ParaPath);
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}
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#endregion
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#endregion
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#region Job
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#region 定义
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public SerializeFileTool<List<Job>> sftJobs = new SerializeFileTool<List<Job>>();
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public List<Job> Jobs = new List<Job>();
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public List<JobResults> JobResults = new List<JobResults>();
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private JobResults tmpJobResults = new JobResults();
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private JobResult tmpJobResult = new JobResult();
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private FitLineResult tmpFitLineResult = new FitLineResult();
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public HImage JobImage;
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private JobAssistance mJobAssistance = new JobAssistance();
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#endregion
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public void LoadJobs()
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{
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string path = System.Windows.Forms.Application.StartupPath + "\\JobConfige\\JobConfige.xml";
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Jobs = sftJobs.GetConfig(path);
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}
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public void LoadJobs(string path)
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{
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Jobs = sftJobs.GetConfig(path);
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}
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/// <summary>
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/// 单个job运行方法（需程序员自己编写参数传递）
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/// </summary>
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/// <param name="index">序号</param>
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public void Run(int index)
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{
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if (JobImage == null) return;
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tmpJobResults = new JobResults();
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tmpJobResults.results = new List<JobResult>();
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tmpJobResults.name = Jobs[index].name;
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switch (index)
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{
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case 0:
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for (int j = 0; j < 2; j++)
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{
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tmpJobResult = new JobResult();
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tmpJobResult = mJobAssistance.ToolRun(JobImage, Jobs[index].tools[j]);
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tmpJobResults.results.Add(tmpJobResult);
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}
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JobResults.Add(tmpJobResults);
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break;
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case 1:
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case 2:
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case 3:
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case 4:
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for (int j = 0; j < 4; j++)
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{
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tmpJobResult = new JobResult();
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tmpJobResult = mJobAssistance.ToolRun(JobImage, Jobs[index].tools[j]);
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tmpJobResults.results.Add(tmpJobResult);
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}
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JobResults.Add(tmpJobResults);
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break;
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default:
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break;
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}
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resultCreater.ChangeValue(new EventData(Jobs[index].name + "_Done"));
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}
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/// <summary>
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/// 单个job运行方法（需程序员自己编写参数传递）
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/// </summary>
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/// <param name="JobName">Job名称</param>
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public void Run(string JobName)
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{
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if (JobImage == null) return;
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tmpJobResults = new JobResults();
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tmpJobResults.results = new List<JobResult>();
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for (int i = 0; i < Jobs.Count; i++)
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{
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if (Jobs[i].name.Equals(JobName))
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{
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tmpJobResults.name = Jobs[i].name;
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switch (JobName)
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{
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case "JobLLMF":
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for (int j = 0; j < 1; j++)
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{
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tmpJobResult = new JobResult();
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tmpJobResult = mJobAssistance.ToolRun(JobImage, Jobs[i].tools[j]);
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if (tmpJobResult.fitLineResult == null)
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{
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resultCreater.ChangeValue(new EventData(JobName + "_Undone"));
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return;
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}
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tmpJobResults.results.Add(tmpJobResult);
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}
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JobResults.Add(tmpJobResults);
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break;
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default:
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break;
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}
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break;
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}
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}
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resultCreater.ChangeValue(new EventData(JobName + "_Done"));
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JobImage.Dispose();
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}
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/// <summary>
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/// 清空结果
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/// </summary>
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public void Clear_JobResults()
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{
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JobResults.Clear();
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}
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#endregion
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#region 计算方法
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/// <summary>
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/// 计算2直线距离
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/// </summary>
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/// <param name="l1">直线1</param>
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/// <param name="l2">直线2</param>
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/// <returns>距离</returns>
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public double DistanceLine2Line(FitLineResult l1, FitLineResult l2)
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{
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HTuple tmp = new HTuple();
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HOperatorSet.DistancePl((l1.mRowStart + l1.mRowEnd) / 2, (l1.mColumnStart + l1.mColumnEnd) / 2,
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l2.mRowStart, l2.mColumnStart, l2.mRowEnd, l2.mColumnEnd, out tmp);
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return tmp.D;
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}
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/// <summary>
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/// 计算2直线交点
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/// </summary>
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/// <param name="l1">直线1</param>
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/// <param name="l2">直线2</param>
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/// <param name="x">交点x</param>
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/// <param name="y">交点y</param>
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public void IntersectionLine2Line(FitLineResult l1, FitLineResult l2, out double x, out double y)
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{
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HTuple row, col, isP;
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HOperatorSet.IntersectionLl(l1.mRowStart, l1.mColumnStart, l1.mRowEnd, l1.mColumnEnd,
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l2.mRowStart, l2.mColumnStart, l2.mRowEnd, l2.mColumnEnd,
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out row, out col, out isP);
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x = col.D;
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y = row.D;
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}
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/// <summary>
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/// 计算2直线交点
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/// </summary>
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/// <param name="Line1StartX"></param>
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/// <param name="Line1StartY"></param>
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/// <param name="Line1EndX"></param>
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/// <param name="Line1EndY"></param>
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/// <param name="Line2StartX"></param>
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/// <param name="Line2StartY"></param>
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/// <param name="Line2EndX"></param>
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/// <param name="Line2EndY"></param>
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/// <param name="x"></param>
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/// <param name="y"></param>
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public void IntersectionLine2Line(double Line1StartX, double Line1StartY, double Line1EndX, double Line1EndY,
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double Line2StartX, double Line2StartY, double Line2EndX, double Line2EndY, out double x, out double y)
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{
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HTuple row, col, isP;
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HOperatorSet.IntersectionLl((HTuple)Line1StartY, (HTuple)Line1StartX, (HTuple)Line1EndY, (HTuple)Line1EndX,
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(HTuple)Line2StartY, (HTuple)Line2StartX, (HTuple)Line2EndY, (HTuple)Line2EndX,
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out row, out col, out isP);
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x = col.D;
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y = row.D;
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}
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/// <summary>
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/// 计算直线与水平坐标的角度
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/// </summary>
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/// <param name="l1">直线1</param>
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/// <returns>角度</returns>
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public double AngleLine2HorizontialAxis(FitLineResult l1)
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{
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HTuple tmp;
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HOperatorSet.AngleLx(l1.mRowStart, l1.mColumnStart, l1.mRowEnd, l1.mColumnEnd, out tmp);
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return tmp.D / Math.PI * 180;
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}
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/// <summary>
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/// 计算点到点距离
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/// </summary>
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/// <param name="x1"></param>
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/// <param name="y1"></param>
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/// <param name="x2"></param>
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/// <param name="y2"></param>
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/// <returns></returns>
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public double DistanceP2P(double x1, double y1, double x2, double y2)
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{
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HTuple dis;
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HOperatorSet.DistancePp((HTuple)y1, (HTuple)x1, (HTuple)y2, (HTuple)x2, out dis);
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return dis.D;
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}
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/// <summary>
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/// 计算2直线的角度
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/// </summary>
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/// <param name="r1"></param>
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/// <param name="r2"></param>
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/// <returns></returns>
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public double AngleLine2Line(FitLineResult r1, FitLineResult r2)
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{
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HTuple angle;
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HOperatorSet.AngleLl(r1.mRowStart, r1.mColumnStart, r1.mRowEnd, r1.mColumnEnd,
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r2.mRowStart, r2.mColumnStart, r2.mRowEnd, r2.mColumnEnd, out angle);
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return angle.D / Math.PI * 180;
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}
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#endregion
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}
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}
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