using Bro.Common.Base;
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using Bro.Common.Helper;
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using Bro.Common.Interface;
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using Bro.Common.Model;
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using Bro.UI.Model.Winform;
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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.Linq;
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using System.Runtime.CompilerServices;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using static Bro.Common.Helper.EnumHelper;
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namespace Bro.Process
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{
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public partial class ProcessControl
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{
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protected FrmCalibration_9P _frmCalibration_9P = null;
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public int MultipleStepsCalibration(CameraBase camera,
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IMotion motionDevice,
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CalibrationConfig config,
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Action<CameraBase, CalibrationConfig, string, int> singleResultAction,
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Func<CameraBase, IMotion, CalibrationConfig, AutoWaitConfirm, string> finalCalculation,
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[CallerMemberName]string methodName = "")
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{
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if (config.InputPara == null || config.InputPara.Count <= 0)
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{
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config.Results.ForEach(u => u.Image = null);
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_frmCalibration_9P = new FrmCalibration_9P(camera, motionDevice, config, singleResultAction, finalCalculation, ResetHalconTool, methodName);
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Task.Run(() =>
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{
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_frmCalibration_9P.FormClosed += (s, e) =>
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{
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_frmCalibration_9P?.Dispose();
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_frmCalibration_9P = null;
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};
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_frmCalibration_9P.ShowDialog();
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});
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return (int)ReplyValue.NG;
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}
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if (config.InputPara[0] <= 0 || config.InputPara[0] > config.Results.Count)
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{
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config.InputPara = null;
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return (int)ReplyValue.IGNORE;
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}
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int sequence = config.InputPara[0];
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//第一次 sequence从1开始
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if (sequence == 1)
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{
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config.Results.ForEach(c =>
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{
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c.Image = null;
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c.OfflineImagePath = "";
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c.CurrentPlatPoint = new CustomizedPoint();
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c.ImageMarkPoint = new CustomizedPoint();
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});
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}
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singleResultAction(camera, config, methodName, sequence);
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//获取当前平台点位
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var locationList = motionDevice.GetCurrentAxisInfo("X", "Y").Select(u => u.AxisLocation).ToList();
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config.Results[sequence - 1].CurrentPlatPoint = new CustomizedPoint(locationList[0], locationList[1]);
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//和标定界面互动 1.输出结果显示 2.部分人工确认操作
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_frmCalibration_9P?.OnCalibStepDone(sequence);
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//最后一次 和标定界面互动 1.最终计算结果显示 2.人工确认是否写入配置（不是保存操作）
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string finalResult = "";
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if (sequence == config.Results.Count)
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{
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AutoWaitConfirm saveConfigConfirm = new AutoWaitConfirm()
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{
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WaitHandle = new AutoResetEvent(true),
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WaitResult = true,
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};
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if (_frmCalibration_9P != null)
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{
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saveConfigConfirm.WaitHandle.Reset();
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saveConfigConfirm.WaitResult = false;
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}
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finalResult = finalCalculation?.Invoke(camera, motionDevice, config, saveConfigConfirm);
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_frmCalibration_9P?.OnCalibFinalDone(finalResult, saveConfigConfirm);
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}
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//if (_frmCalibration_9P?.OnCalibFinalDone(finalResult) ?? true)
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//{
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// modifyConfigAction?.Invoke(camera, motionDevice);
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//}
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config.InputPara = null;
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return (int)ReplyValue.OK;
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}
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public void GetCalibrationPoints(CameraBase camera, CalibrationConfig config, string methodName, int sequence)
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{
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//string imgSetId = "";
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List<IShapeElement> pointList = new List<IShapeElement>();
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IImageSet set = CollectHImage(camera, config.CameraOpConfig);
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if (set == null)
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return;
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using (HObject hImage = set.HImage)
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{
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var tool = GetHalconTool(config.CameraOpConfig);
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tool.InputImageDic["INPUT_Image"] = hImage;
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if (!tool.RunProcedure(out string error))
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{
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throw new ProcessException($"{methodName}算法执行异常：{error}");
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}
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var xList = tool.GetResultTuple("OUTPUT_X").HTupleToDouble();
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var yList = tool.GetResultTuple("OUTPUT_Y").HTupleToDouble();
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for (int i = 0; i < xList.Count; i++)
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{
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pointList.Add(new PointIndicator((float)xList[i], (float)yList[i]));
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}
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camera.SaveFitImage(pointList, set.Id);
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}
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config.Results[sequence - 1].ImageMarkPoint = new CustomizedPoint((pointList[0] as PointIndicator).Center);
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}
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public List<double> GetMatrixByCalibrationResult(CalibrationConfig config, out string msg)
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{
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List<double> list = new List<double>();
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//try
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{
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var xList = config.Results.Select(u => u.CurrentPlatPoint.X).ToArray();
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var yList = config.Results.Select(u => u.CurrentPlatPoint.Y).ToArray();
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var uList = config.Results.Select(u => u.ImageMarkPoint.X).ToArray();
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var vList = config.Results.Select(u => u.ImageMarkPoint.Y).ToArray();
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HOperatorSet.VectorToHomMat2d(new HTuple(uList), new HTuple(vList), new HTuple(xList), new HTuple(yList), out HTuple matrix);
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double sum = 0;
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for (int i = 0; i < xList.Length; i++)
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{
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HOperatorSet.AffineTransPoint2d(matrix, uList[i], vList[i], out HTuple m, out HTuple n);
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sum += Math.Sqrt((Math.Pow((m.D - xList[i]), 2) + Math.Pow((n.D - yList[i]), 2)));
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}
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sum = (sum / (double)xList.Length);
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//设置偏移量为0
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//matrix[2] = matrix[5] = 0;
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list = matrix.HTupleToDouble();
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msg = $"标定点数量:{xList.Length}; 单点误差:{sum.ToString()}脉冲; 矩阵：{string.Join(" ", list)}";
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}
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//catch (Exception ex)
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//{
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// msg = ex.Message;
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//}
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//LogAsync(DateTime.Now, $"{camera.Name}标定完成", msg);
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return list;
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}
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}
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}
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