using Bro.Common.Base;
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using Bro.Common.Helper;
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using Bro.Common.Model;
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using Bro.Common.UI;
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using HalconDotNet;
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using System;
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using System.Collections.Generic;
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using System.Data;
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using System.Drawing;
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using System.IO;
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using System.Linq;
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using System.Threading;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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namespace Bro.Common.Calibration
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{
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public partial class CalibrationStatic9PointFrm : Form
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{
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/// <summary>
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/// 标定点位信息
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/// </summary>
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public List<CalibrationPoint> CPoints
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{
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get
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{
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return canvas1.Elements.Where(p => p.IsEnabled && (p is CrossHair)).Select(p => ((CrossHair)p).CenterPoint).ToList();
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}
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}
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/// <summary>
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/// 运动点位信息
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/// </summary>
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public CustomizedPoint MovingPosition { get; set; } = new CustomizedPoint();
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Canvas canvas1 = new Canvas();
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PLCBase PLC = null;
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CameraBase Camera = null;
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Bitmap Image = null;
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CalibrationStatic9PointConfig Config = null;
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HDevEngineTool tool = null;
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public CalibrationStatic9PointFrm()
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{
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InitializeComponent();
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canvas1 = new Canvas();
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canvas1.Dock = DockStyle.Fill;
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plCanvas.Controls.Add(canvas1);
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}
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public CalibrationStatic9PointFrm(string display, CameraBase camera, PLCBase plc, Bitmap image, CalibrationStatic9PointConfig config)
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{
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InitializeComponent();
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if (!string.IsNullOrWhiteSpace(display))
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{
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this.Text = display;
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}
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Camera = camera;
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PLC = plc;
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Image = image;
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propCalibrationConfig.SelectedObject = Config = config;
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Camera.OnImageUpdated -= Camera_UpdateShowImage;
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Camera.OnImageUpdated += Camera_UpdateShowImage;
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canvas1.LoadImage(Image);
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LoadHalconTool();
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}
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AutoResetEvent _imgShowedHandle = new AutoResetEvent(true);
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private void Camera_UpdateShowImage(CameraBase camera, Bitmap image)
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{
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if (this.InvokeRequired)
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{
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this.Invoke(new Action(() => LoadImage(image)));
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}
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else
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{
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LoadImage(image);
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}
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}
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private void LoadImage(Bitmap image)
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{
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canvas1.LoadImage(image);
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_imgShowedHandle.Set();
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}
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private void PointTest()
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{
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canvas1.Elements.Clear();
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for (int i = 0; i < 3; i++)
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{
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for (int j = 0; j < 3; j++)
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{
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PointF p = new PointF();
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p.X = 300 + i * 100;
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p.Y = 500 + j * 150;
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CrossHair ch = new CrossHair(new CalibrationPoint(p));
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ch.Index = i * 3 + j + 1;
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ch.Name = p.X.ToString() + "--" + p.Y.ToString();
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canvas1.Elements.Add(ch);
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}
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}
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}
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private void LoadHalconTool()
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{
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if (string.IsNullOrWhiteSpace(Config.CameraOpConfig.AlgorithemPath))
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{
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return;
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}
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txtAlgorithemPath.Text = Config.CameraOpConfig.AlgorithemPath;
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string directoryPath = Path.GetDirectoryName(Config.CameraOpConfig.AlgorithemPath);
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string fileName = Path.GetFileNameWithoutExtension(Config.CameraOpConfig.AlgorithemPath);
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tool = new HDevEngineTool(directoryPath);
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tool.LoadProcedure(fileName);
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Thread.Sleep(1000);
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}
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private void btnCancel_Click(object sender, EventArgs e)
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{
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this.DialogResult = DialogResult.Cancel;
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}
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private void btnDone_Click(object sender, EventArgs e)
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{
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if (CPoints.Count < 9)
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{
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if (MessageBox.Show("一般需设置至少9个标定点的信息，是否确认完成", "完成确认", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning) != DialogResult.OK)
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return;
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}
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if (CPoints.Count(p => p.X == 0 && p.Y == 0) > 1)
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{
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if (MessageBox.Show("标定点的XY信息未设置完成，是否确认完成", "完成确认", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning) != DialogResult.OK)
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return;
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}
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GetCurrentPosition();
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if (Config.IsEnableROIFilter)
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{
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Config.ROIList.Clear();
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CPoints.ForEach(u =>
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{
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ROI_Circle circle = new ROI_Circle();
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if (u.IsBasePoint)
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{
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circle.ROI_Index = "1";
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}
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circle.Center = new CustomizedPoint(u.U, u.V);
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circle.Radius = Config.ROI_Radius;
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Config.ROIList.Add(circle);
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});
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}
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this.DialogResult = DialogResult.OK;
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}
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public virtual void GetCurrentPosition()
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{
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//if (Config.PLCSetting.IsRealTimeDataFromPLC)
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//{
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// int x = PLC.Read(Config.PLCSetting.XAddress, 2).ParseUnsignShortListToInt()[0];
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// int y = PLC.Read(Config.PLCSetting.YAddress, 2).ParseUnsignShortListToInt()[0];
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// MovingPosition = new CustomizedPoint(x, y);
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// Config.PLCSetting.LocationX = x;
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// Config.PLCSetting.LocationY = y;
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//}
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//else
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//{
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// MovingPosition = new CustomizedPoint(Config.PLCSetting.LocationX, Config.PLCSetting.LocationY);
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//}
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}
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private void btnCalibrate_Click(object sender, EventArgs e)
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{
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DoCalibration();
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}
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private void DoCalibration()
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{
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canvas1.Elements.Clear();
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if (Config.IsEnableROIFilter)
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{
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Config.ROIList.ForEach(r =>
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{
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canvas1.Elements.Add(r);
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});
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}
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try
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{
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HTuple outputX = new HTuple();
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HTuple outputY = new HTuple();
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using (HObject hImage = canvas1.MAP.ConvertBitmapToHObject())
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{
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tool.InputImageDic.Clear();
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tool.InputImageDic["INPUT_Image"] = hImage;
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tool.RunProcedure();
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if (!tool.IsSuccessful)
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throw new ProcessException($"{Config.CameraOpConfig.AlgorithemPath}算法运行失败");
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outputX = tool.GetResultTuple("OUTPUT_X");
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outputY = tool.GetResultTuple("OUTPUT_Y");
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}
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List<CrossHair> chList = new List<CrossHair>();
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for (int i = 0; i < outputX.DArr.Length; i++)
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{
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CalibrationPoint point = new CalibrationPoint(new PointF((float)outputX.DArr[i], (float)outputY.DArr[i]));
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if (Config.IsEnableROIFilter && Config.ROIList.Count > 0)
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{
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var roi = Config.ROIList.FirstOrDefault(r => r.IsMouseInSide(new Point((int)point.U, (int)point.V)));
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if (roi != null)
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{
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CrossHair ch = new CrossHair(point);
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ch.IsShowRemark = Config.IsShowRemark;
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ch.Index = i + 1;
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ch.Name = point.U.ToString("f3") + "--" + point.V.ToString("f3");
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if (roi.ROI_Index == "1")
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{
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ch.CenterPoint.IsBasePoint = true;
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}
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chList.Add(ch);
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}
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}
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else
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{
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CrossHair ch = new CrossHair(point);
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ch.IsShowRemark = Config.IsShowRemark;
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ch.Index = i + 1;
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ch.Name = point.U.ToString("f3") + "--" + point.V.ToString("f3");
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chList.Add(ch);
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}
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}
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Config.ROIList.ForEach(r =>
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{
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canvas1.Elements.Add(r);
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});
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}
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catch (Exception ex)
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{
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MessageBox.Show(ex.GetExceptionMessage());
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}
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}
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private void btnQuickSetXY_Click(object sender, EventArgs e)
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{
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if (MessageBox.Show("快捷设置XY坐标仅适用于标定坐标系和相机坐标系基本平行情况下", "提示", MessageBoxButtons.OKCancel, MessageBoxIcon.Asterisk) != DialogResult.OK)
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{
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return;
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}
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if (CPoints.Count(p => p.IsBasePoint) > 1)
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{
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MessageBox.Show("基准点只能选择一个");
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return;
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}
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var basePoint = CPoints.FirstOrDefault(p => p.IsBasePoint);
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if (basePoint == null)
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{
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MessageBox.Show("请选择一个基准点");
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return;
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}
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List<float> uList = CPoints.Select(p => Math.Abs(p.U - basePoint.U)).OrderBy(u => u).ToList();
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List<float> vList = CPoints.Select(p => Math.Abs(p.V - basePoint.V)).OrderBy(u => u).ToList();
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float intervalU = uList.FirstOrDefault(u => u > Config.IgnorePixel);
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float intervalV = vList.FirstOrDefault(u => u > Config.IgnorePixel);
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CPoints.ForEach(p =>
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{
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if (!p.IsBasePoint)
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{
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if (Config.IsInvert)
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{
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p.X = (int)(Math.Round((p.V - basePoint.V) / intervalV)) * Config.IntervalX + basePoint.X;
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p.Y = (int)(Math.Round((p.U - basePoint.U) / intervalU)) * Config.IntervalY + basePoint.Y;
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}
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else
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{
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p.X = (int)(Math.Round((p.U - basePoint.U) / intervalU)) * Config.IntervalX + basePoint.X;
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p.Y = (int)(Math.Round((p.V - basePoint.V) / intervalV)) * Config.IntervalY + basePoint.Y;
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}
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}
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else
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{
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if (Config.IsEnableROIFilter)
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{
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var roi1st = Config.ROIList.FirstOrDefault(u => u.IsMouseInSide(new Point((int)p.U, (int)p.V)));
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if (roi1st != null)
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{
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roi1st.ROI_Index = "1";
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}
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}
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}
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});
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MessageBox.Show("快捷配置完成！");
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}
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private void btnReSnap_Click(object sender, EventArgs e)
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{
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Camera.Snapshot(Config.CameraOpConfig, out HObject hImage);
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hImage.Dispose();
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}
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private void chkContinueMode_CheckedChanged(object sender, EventArgs e)
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{
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if (chkContinueMode.Checked)
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{
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Task.Run(() =>
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{
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while (chkContinueMode.Checked)
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{
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Camera.Snapshot(Config.CameraOpConfig, out HObject hImage);
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hImage.Dispose();
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_imgShowedHandle.WaitOne(3000);
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}
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});
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}
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}
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private void btnTest_Click(object sender, EventArgs e)
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{
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PointTest();
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}
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private void btnReadLocation_Click(object sender, EventArgs e)
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{
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//int x = PLC.Read(Config.PLCSetting.XAddress, 2).ParseUnsignShortListToInt()[0];
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//int y = PLC.Read(Config.PLCSetting.YAddress, 2).ParseUnsignShortListToInt()[0];
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//string msg = string.Format("X:{0};Y:{1}", x, y);
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//if (MessageBox.Show(msg + "\r\n是否保存到配置？", "坐标获取", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
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//{
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// Config.PLCSetting.LocationX = x;
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// Config.PLCSetting.LocationY = y;
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//}
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GetCurrentPosition();
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}
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private void btnReloadAlgorithem_Click(object sender, EventArgs e)
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{
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LoadHalconTool();
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MessageBox.Show("算法重新载入完成");
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}
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private void btnClearROI_Click(object sender, EventArgs e)
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{
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Config.ROIList.Clear();
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DoCalibration();
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}
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private void CalibrationProcessFrm_FormClosing(object sender, FormClosingEventArgs e)
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{
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chkContinueMode.Checked = false;
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}
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}
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}
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