FitRivetMachine/Rs.MotionPlat/Controls/CameraTemplate.cs

using ChoiceTech.Halcon.Control;
using HalconDotNet;
using Rs.Camera;
using Rs.Framework;
using Rs.MotionPlat.Commom;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using static System.Net.Mime.MediaTypeNames;

namespace Rs.MotionPlat
{
    public enum ERoiShape
    {
        Rectange,
        Circle,
        Any
    }
    public partial class CameraTemplate : UserControl
    {

        ProductModel pm = new ProductModel();
        HWindow winHandle = null;
        HObject hImage = null;
        HObject final_Region = new HObject();
        public CameraTemplate()
        {
            InitializeComponent();
            HikCamera.Instance.GrabOkEvent += Instance_GrabOkEvent;
            winHandle = hWindow_Final1.hWindowControl.HalconWindow;
            HOperatorSet.GenEmptyObj(out final_Region);
        }

        private void Instance_GrabOkEvent(int arg1, HObject arg2)
        {
            hImage = arg2;
            hWindow_Final1.HobjectToHimage(hImage);
        }
        HObject ho_image;

        private void btnLoadImage_Click(object sender, EventArgs e)
        {
            HOperatorSet.GenEmptyObj(out ho_image);
            OpenFileDialog fileOpen=new OpenFileDialog();
            DialogResult dr = fileOpen.ShowDialog();
            if(dr == DialogResult.OK)
            {
                string filename = fileOpen.FileName;
                HOperatorSet.ReadImage(out HObject img, filename);
                HOperatorSet.SetDraw(hWindow_Final1.hWindowControl.HalconWindow, "margin");
               // HOperatorSet.DispCross(hWindow_Final1.hWindowControl.HalconWindow, hWindow_Final1.Width / 2, hWindow_Final1.Height / 2, 300, 0);
                hWindow_Final1.HobjectToHimage(img);
                ho_image = img;
                pm.SourceImage = ho_image;
                HOperatorSet.GetImageSize(pm.SourceImage,out HTuple imgWidth,out HTuple imgHeight);

                HOperatorSet.GenCrossContourXld(out HObject cross, imgHeight/2, imgWidth/2, Math.Max(imgHeight,imgWidth), 0);
                hWindow_Final1.DispObj(cross);
            }

        }

        private void btnGrab_Click(object sender, EventArgs e)
        {
            bGrabContinue = false;
            HikCamera.Instance.Grab("MV-CA050-10GM (00C32922251)");
        }
        bool bGrabContinue = false;
        private void btnGrabContinue_Click(object sender, EventArgs e)
        {
            bGrabContinue = true;
            Task.Run(() => {
                while(bGrabContinue)
                {
                    HikCamera.Instance.Grab("MV-CA050-10GM (00C32922251)");
                    Thread.Sleep(200);
                }
            });
        }

        HObject imageReduced, partImage;
        private void btnCreateModel_Click(object sender, EventArgs e)
        {
            hWindow_Final1.Focus();
            hWindow_Final1.DrawModel = true;

            //winHandle.SetColor("green");
            //winHandle.SetDraw("margin");
            //HTuple row = new HTuple(), column = new HTuple(), radius = new HTuple();
            //HOperatorSet.DrawRegion(out final_Region, winHandle);
            //hWindow_Final1.DispObj(final_Region, "green");

            //HTuple row1 = new HTuple(), col1 = new HTuple(), row2 = new HTuple(), col2 = new HTuple();

            //HOperatorSet.DrawRectangle1(winHandle, out row1, out col1, out row2, out col2);
            // HObject rect = new HObject();
            //HOperatorSet.GenEmptyObj(out rect);
            //HOperatorSet.GenRectangle1(out rect, row1, col1, row2, col2);
            //hWindow_Final1.DispObj(rect, "green");

            //HOperatorSet.DispObj(rect, hWindow_Final1.hWindowControl.HalconWindow);


            try
            {
                winHandle.SetColor("green");
                winHandle.SetDraw("margin");
                HOperatorSet.GenEmptyObj(out imageReduced);
                HOperatorSet.GenEmptyObj(out partImage);
                HTuple row1 = new HTuple(), column1 = new HTuple(), row2 = new HTuple(), column2 = new HTuple();
                HOperatorSet.DrawRectangle1(winHandle, out row1, out column1, out row2, out column2);
                HOperatorSet.GenRectangle1(out final_Region, row1, column1, row2, column2);
                pm.RoiRegion = final_Region;


                HOperatorSet.CropPart(ho_image, out partImage, row1, column1, column2 - column1, row2 - row1);
                HOperatorSet.ReduceDomain(ho_image,final_Region,out imageReduced);
                pm.TemplateImage= partImage;

                HOperatorSet.InspectShapeModel(imageReduced, out HObject shapeModel, out HObject modelRegions, 1, 30);
                hWindow_Final1.DispObj(modelRegions);
                hWindow_Final2.HobjectToHimage(partImage);
                HOperatorSet.SetColor(winHandle, "green");
                //HOperatorSet.DispObj(pm.RoiRegion, winHandle);
                hWindow_Final1.DispObj(pm.RoiRegion);
            }
            catch (Exception)
            {
                
            }
            finally
            {
                hWindow_Final1.DrawModel = false;
            }
            
            
        }

        private void button4_Click(object sender, EventArgs e)
        {
            HObject removedRegion;
            HTuple hv_Button = null;
            HTuple hv_Row = null, hv_Column = null;
            HObject brushRegion, brushRegionAffine;
            HOperatorSet.GenCircle(out brushRegion, 50, 50, 20);
            HTuple brushRow, brushColumn, brushArea;
            //HOperatorSet.GenEmptyObj(out brushRegion);
            HOperatorSet.GenEmptyObj(out brushRegionAffine);
            HOperatorSet.GenEmptyObj(out removedRegion);
            hWindow_Final1.DrawModel = true;
            Task.Run(() => {
                hv_Button = 0;
                int a = 0;
                HOperatorSet.AreaCenter(brushRegion, out  brushArea, out  brushRow, out  brushColumn);
                while(true)
                {
                    try
                    {
                        HOperatorSet.GetMposition(winHandle, out hv_Row, out hv_Column, out hv_Button);
                    }
                    catch (Exception ex)
                    {
                        //MessageBox.Show(ex.Message);
                    }

                    if (removedRegion.IsInitialized())
                    {
                        try
                        {
                            
                            //////HOperatorSet.DispObj(final_region, Frm_ShapeMatchTool.Instance.hWindow_Final1.HWindowHalconID);
                            HObject image1, image2, resultImage;
                            resultImage = new HObject();
                            HObject iamgeR, iamgeG, iamgeB;
                            //HOperatorSet.Decompose3(ho_image, out iamgeR, out iamgeG, out iamgeB);
                            int c = removedRegion.CountObj();
                            if(c>0)
                            {
                                HOperatorSet.PaintRegion(removedRegion, ho_image, out image1, 120, "fill");
                                HOperatorSet.Compose3(image1, image1, ho_image, out resultImage);
                                HOperatorSet.SetSystem("flush_graphic", "false");
                                HOperatorSet.DispObj(resultImage, winHandle);
                            }
                            
                            //hWindow_Final1.HobjectToHimage(resultImage);
                            if (hv_Row >= 0 && hv_Column >= 0)
                            {
                                //当鼠标移动时，画出画笔
                                //生成移动矩阵

                                HOperatorSet.SetColor(winHandle, "gray");
                                HOperatorSet.VectorAngleToRigid(brushRow, brushColumn, 0, hv_Row, hv_Column, 0, out HTuple homMoveMat2D);
                                brushRegionAffine.Dispose();
                                //移动
                                HOperatorSet.AffineTransRegion(brushRegion, out brushRegionAffine, homMoveMat2D, "nearest_neighbor");
                                HOperatorSet.SetSystem("flush_graphic", "true");
                                HOperatorSet.DispObj(brushRegionAffine, winHandle);
                                if (hv_Button == 1)
                                {
                                    if(a==1)
                                    {
                                        HOperatorSet.Difference(removedRegion, brushRegionAffine, out removedRegion);
                                    }
                                   else
                                    {
                                        HOperatorSet.ConcatObj(removedRegion, brushRegionAffine,out  removedRegion);
                                    }

                                }
                            }

                            //HOperatorSet.SetPart(Frm_ShapeMatchTool.Instance.hWindow_Final1.HWindowHalconID, row1 - 20, col1 - 20, row2 + 20, col2 + 20);

                                // HOperatorSet.DispObj(resultImage, Frm_ShapeMatchTool.Instance.hWindow_Final1.HWindowHalconID);
                                //HOperatorSet.SetColor(Frm_ShapeMatchTool.Instance.hWindow_Final1.HWindowHalconID, "gray");
                                //HOperatorSet.DispObj(final_region, Frm_ShapeMatchTool.Instance.hWindow_Final1.HWindowHalconID);
                        }
                        catch { }
                    }

                }
            });
        }

        private void button5_Click(object sender, EventArgs e)
        {

        }

        private void trackBar2_ValueChanged(object sender, EventArgs e)
        {
            lblContrast.Text = tbarContrast.Value.ToString();
            HOperatorSet.ClearWindow(winHandle);
            HOperatorSet.ReduceDomain(pm.SourceImage, pm.FinalRegion, out HObject imageReduced);
            HOperatorSet.InspectShapeModel(imageReduced, out HObject modelImages, out HObject modelRegions, 1, tbarContrast.Value);
            hWindow_Final1.DispObj(pm.SourceImage);
            hWindow_Final1.DispObj(modelRegions, "green");
        }

        private void btnStudy_Click(object sender, EventArgs e)
        {
            
            if(pm.FinalRegion== null || pm.FinalRegion.CountObj()==0)
            {
                MessageBox.Show("请先绘制ROI区域");
                return;
            }
            HOperatorSet.ClearWindow(hWindow_Final2.hWindowControl.HalconWindow);
            
            HOperatorSet.ReduceDomain(pm.SourceImage, pm.FinalRegion, out HObject imageReduced);
            HOperatorSet.InspectShapeModel(imageReduced, out HObject modelImages, out HObject modelRegions, 1, 30);
            hWindow_Final1.DispObj(pm.SourceImage);
            hWindow_Final1.DispObj(modelRegions, "green");

            //HOperatorSet
            HOperatorSet.SmallestRectangle1(pm.FinalRegion,out HTuple row1,out HTuple column1,out HTuple row2,out HTuple column2);
            //HOperatorSet.SetPart(hWindow_Final2.hWindowControl.HalconWindow, pm.RoiRow1 - 20, pm.RoiColumn1 - 20, pm.RoiRow2 + 20, pm.RoiColumn2 + 20);
            HOperatorSet.SetPart(hWindow_Final2.hWindowControl.HalconWindow, row1 - 20, column1 - 20, row2 + 20, column2 + 20);
            HOperatorSet.DispObj(imageReduced, hWindow_Final2.hWindowControl.HalconWindow);
            //HOperatorSet.CropPart(ho_image, out partImage, row1, column1, column2 - column1, row2 - row1);

        }

        private void btnDrawRectangle(object sender, EventArgs e)
        {
            DrawRoi(ERoiShape.Rectange);
        }

        private void btnDrawCircle_Click(object sender, EventArgs e)
        {
            DrawRoi(ERoiShape.Circle);
        }

        bool bPaint = true;
        bool isPaint = false;
        private void btnPaint_Click(object sender, EventArgs e)
        {
            bPaint = true;
            PaintOrClear();

        }

        private void btnClear_Click(object sender, EventArgs e)
        {
            bPaint = false;
            PaintOrClear();
        }

        private void PaintOrClear()
        {
            if (isPaint)
            {
                return;
            }
            HObject removedRegion;
            HObject hoImage;
            HOperatorSet.GenEmptyObj(out removedRegion);
            HTuple hv_Button = null;
            HTuple hv_Row = null, hv_Column = null;
            HObject brushRegion, brushRegionAffine;
            HOperatorSet.GenEmptyObj(out brushRegionAffine);
            HOperatorSet.GenCircle(out brushRegion, 50, 50, 20);
            HTuple brushRow, brushColumn, brushArea;
            hWindow_Final1.DrawModel = true;
            if (pm.RemovedRegion != null && pm.RemovedRegion.CountObj() > 0)
            {
                removedRegion = pm.RemovedRegion;
            }
            Task.Run(() => {
                isPaint = true;
                hv_Button = 0;
                int a = 0;
                HOperatorSet.ReduceDomain(pm.SourceImage, pm.RoiRegion, out HObject imageReduced);
                HOperatorSet.InspectShapeModel(imageReduced, out HObject modelImages, out HObject modelRegions, 1, 30);
                HOperatorSet.SetColor(winHandle, "green");
                HOperatorSet.DispObj(modelRegions, winHandle);
                //hWindow_Final1.DispObj(modelRegions);
                HOperatorSet.AreaCenter(brushRegion, out brushArea, out brushRow, out brushColumn);
                while (true)
                {
                    try
                    {
                        //HOperatorSet.GetMbutton(winHandle, out HTuple mrow, out HTuple mcol, out hv_Button);
                        //获取鼠标位置信息
                        HOperatorSet.GetMposition(winHandle, out hv_Row, out hv_Column, out hv_Button);
                        if (hv_Button == 4)
                        {
                            break;
                        }
                    }
                    catch (Exception ex)
                    {
                        //MessageBox.Show(ex.Message);
                    }

                    if (removedRegion.IsInitialized())
                    {
                        try
                        {
                            //////HOperatorSet.DispObj(final_region, Frm_ShapeMatchTool.Instance.hWindow_Final1.HWindowHalconID);
                            HObject image1, image2, resultImage;
                            resultImage = new HObject();
                            HObject iamgeR, iamgeG, iamgeB;
                            //HOperatorSet.Decompose3(ho_image, out iamgeR, out iamgeG, out iamgeB);
                            int c = removedRegion.CountObj();
                            if (c > 0)
                            {

                                HOperatorSet.PaintRegion(removedRegion, pm.SourceImage, out image1, 120, "fill");
                                HOperatorSet.Compose3(image1, image1, pm.SourceImage, out resultImage);
                                HOperatorSet.SetSystem("flush_graphic", "false");
                                HOperatorSet.SetColor(winHandle, "green");
                                HOperatorSet.DispObj(resultImage, winHandle);
                                HOperatorSet.DispObj(modelRegions, winHandle);
                            }
                            //HOperatorSet.DispObj(modelRegions, winHandle);
                            //hWindow_Final1.HobjectToHimage(pm.SourceImage);
                            if (hv_Row >= 0 && hv_Column >= 0)
                            {

                                //当鼠标移动时，画出画笔
                                //生成移动矩阵

                                HOperatorSet.SetColor(winHandle, "gray");
                                HOperatorSet.VectorAngleToRigid(brushRow, brushColumn, 0, hv_Row, hv_Column, 0, out HTuple homMoveMat2D);
                                brushRegionAffine.Dispose();
                                //移动
                                HOperatorSet.AffineTransRegion(brushRegion, out brushRegionAffine, homMoveMat2D, "nearest_neighbor");
                                HOperatorSet.SetSystem("flush_graphic", "true");
                                HOperatorSet.DispObj(brushRegionAffine, winHandle);
                                if (hv_Button == 1)
                                {
                                    if(bPaint)
                                    {
                                        HOperatorSet.ConcatObj(removedRegion, brushRegionAffine, out removedRegion);
                                    }
                                    else
                                    {
                                        HOperatorSet.Difference(removedRegion, brushRegionAffine, out removedRegion);
                                    }
                                    pm.RemovedRegion = removedRegion;
                                }
                            }
                        }
                        catch { }
                    }

                }

                HOperatorSet.ClearWindow(winHandle);
                //HOperatorSet.DispObj(pm.SourceImage,winHandle);

                HObject img, rltimg;
                HOperatorSet.PaintRegion(removedRegion, pm.SourceImage, out img, 120, "fill");
                HOperatorSet.Compose3(img, img, pm.SourceImage, out rltimg);
                hWindow_Final1.DispObj(rltimg);


                //hWindow_Final1.DispObj(pm.SourceImage);
                //HOperatorSet.ClearWindow(winHandle);
                HOperatorSet.ReduceDomain(pm.SourceImage, pm.RoiRegion, out imageReduced);
                HOperatorSet.InspectShapeModel(imageReduced, out modelImages, out modelRegions, 1, 30);
                //HOperatorSet.SetColor(winHandle, "green");
                hWindow_Final1.DispObj(modelRegions, "green");
                //HOperatorSet.DispObj(modelRegions, winHandle);

                isPaint = false;


                //hWindow_Final1.DispObj(modelRegions);
                hWindow_Final1.DrawModel = false;
            });
        }

        private void btnWholePaint_Click(object sender, EventArgs e)
        {
            if(pm.RoiRegion==null || pm.RoiRegion.CountObj()<=0)
            {
                Msg.ShowError("请选绘制ROI区域后再进行涂抹");
                return;
            }
            pm.RemovedRegion = pm.RoiRegion;
            //显示涂抹区域
            HOperatorSet.ClearWindow(winHandle);
            //把ROI区域画到原图上
            HOperatorSet.PaintRegion(pm.RoiRegion,pm.SourceImage,out HObject imageResult,150,"fill");
            HOperatorSet.Compose3(imageResult, imageResult, pm.SourceImage, out HObject multiChannelImage);
            hWindow_Final1.DispObj(multiChannelImage);
        }

        private void btnSaveModel_Click(object sender, EventArgs e)
        {
            pm.SaveModel();
        }

        private void btnTestModel_Click(object sender, EventArgs e)
        {
            //先加载模板
            dataGridView1.Rows.Clear();
            HOperatorSet.ReadShapeModel("Recipe/Test/m.shm", out HTuple modelID);
            HOperatorSet.GetShapeModelContours(out HObject modelContours, modelID, 1);
            HOperatorSet.FindShapeModel(pm.SourceImage, modelID, AngleTool.Deg2Rad(-10), AngleTool.Deg2Rad(200), 0.1, 1, 0.5, "least_squares", 0, 0.9, out HTuple row, out HTuple column, out HTuple angle, out HTuple score);
            if(score!=null&&score.Length>0)
            {
                HOperatorSet.VectorAngleToRigid(0, 0, 0, row, column, angle, out HTuple homMat2D);
                HOperatorSet.AffineTransContourXld(modelContours, out HObject contoursAffineTrans, homMat2D);
                hWindow_Final1.DispObj(contoursAffineTrans, "green");
                int len = score.Length;
                for (int i = 0; i < len; i++)
                {
                    double rVal = row.DArr[i];
                    double cVal = column.DArr[i];
                    double angleVal = angle.DArr[i];
                    double scoreVal = score.DArr[i];
                    int rowIndex = dataGridView1.Rows.Add();
                    dataGridView1.Rows[rowIndex].Cells[0].Value = rVal.ToString("0.000");
                    dataGridView1.Rows[rowIndex].Cells[1].Value = cVal.ToString("0.000");
                    dataGridView1.Rows[rowIndex].Cells[2].Value = angleVal.ToString("0.000");
                    dataGridView1.Rows[rowIndex].Cells[3].Value = scoreVal.ToString("0.000");
                    HOperatorSet.GenCrossContourXld(out HObject cross, rVal, cVal, 100, angle);
                    hWindow_Final1.DispObj(cross, "black");
                }
            }
            else
            {
                Msg.ShowError("未定位到产品");
            }
        }

        private void btnDrawAny_Click(object sender, EventArgs e)
        {
            DrawRoi(ERoiShape.Any);
        }

        private void DrawRoi(ERoiShape roiShape)
        {
            if(pm.SourceImage== null || pm.SourceImage.CountObj()<=0)
            {
                Msg.ShowError("请先拍照或者选择照片");
                return;
            }
            hWindow_Final1.Focus();
            HalconTool.SetDisplayFont(winHandle, 50, "sans", new HTuple("true"), new HTuple("false"));
            HalconTool.DispMessage(winHandle, "请在图像窗口中绘制ROI区域，点击右键结束", 20, 20, "red", "false");
            HOperatorSet.SetDraw(winHandle, "margin");
            HOperatorSet.SetColor(winHandle, "green");
            hWindow_Final1.DrawModel = true;
            HObject roiRegion;
            HOperatorSet.GenEmptyObj(out roiRegion);
            if(roiShape== ERoiShape.Rectange)
            {
                HOperatorSet.DrawRectangle1(winHandle, out HTuple row1, out HTuple column1, out HTuple row2, out HTuple column2);
                HOperatorSet.GenRectangle1(out roiRegion, row1, column1, row2, column2);
            }
            else if(roiShape== ERoiShape.Circle)
            {
                HOperatorSet.DrawCircle(winHandle, out HTuple row, out HTuple column, out HTuple radius);
                HOperatorSet.GenCircle(out roiRegion, row, column, radius);
            }
            else
            {
                HOperatorSet.DrawRegion(out roiRegion, winHandle);
            }
           
            pm.RoiRegion = roiRegion;
            //pm.RoiRow1 = row1; pm.RoiRow2 = row2;
            //pm.RoiColumn1 = column1; pm.RoiColumn2 = column2;
            hWindow_Final1.DispObj(pm.RoiRegion, "green");
            hWindow_Final1.DrawModel = false;
        }
    }
}