RealSys.MotionPlat/Rs.Controls/CameraTemplate.cs

using ChoiceTech.Halcon.Control;
using HalconDotNet;
using Rs.Camera;
using Rs.Controls;
using Rs.Framework;
using Rs.Motion;
using Rs.MotionPlat.Commom;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Diagnostics;
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 enum EFindShapeMode
    {
        /// <summary>
        /// 模板查找
        /// </summary>
        Model,
        /// <summary>
        /// 自定义查找
        /// </summary>
        SelfDefine
    }
    public partial class CameraTemplate : UserControl
    {
        public event Action ManualGrab;
        private EFindShapeMode eFindShapeMode = EFindShapeMode.Model;
        public event Action<HWindow_Final, HObject> FindShapeEvent;
        private string removedColor = "#FF0000B4";
        ProductModel pm = new ProductModel();
        HWindow winHandle = null;
        HObject hImage = null;
        HObject final_Region = new HObject();
        private string cameraName = "";
        private string m_savePath = "";
        double matchResultRow = 0.0;
        double matchResultColumn = 0.0;
        double matchResultAngle= 0.0;
        double matchResultScore = 0.0;
        string LightName = "";
        bool bGrab = false;
        /// <summary>
        /// 自定义拍照事件
        /// </summary>
        public event Action CustomDefineGrabEvent;
        public CameraTemplate()
        {
            InitializeComponent();
            HikCamera.Instance.ManualGrabOkEvent += Instance_GrabOkEvent;
            winHandle = hWindow_Final1.hWindowControl.HalconWindow;
            HOperatorSet.GenEmptyObj(out final_Region);
        }

        public string ItemName { get; set; } = "Default";

        public void RemoveGrabEvent()
        {
            HikCamera.Instance.ManualGrabOkEvent -= Instance_GrabOkEvent;
        }

        public void SetFindShapeMode(EFindShapeMode eFindShapeMode)
        {
            this.eFindShapeMode = eFindShapeMode;
        }

        public void AttachFindShapeEvent(Action<HWindow_Final, HObject> fun)
        {
            FindShapeEvent= fun;
        }
        
        static int i = 0;
        private void Instance_GrabOkEvent(int arg1, HObject arg2)
        {
            lock(this)
            {
                if(arg2.IsInitialized())
                {
                    //HOperatorSet.WriteImage(arg2, "bmp", 0, $"d:/temp/{i++}.bmp");
                    ////HOperatorSet.SetPart(hWindow_Final1.hWindowControl.HalconWindow, 0, 0,  - 1, - 1);
                    //hWindow_Final1.ClearWindow();
                    //HOperatorSet.RotateImage(arg2, out hImage, 0, "constant");
                    hImage = arg2.CopyObj(1,1);
                    //hWindow_Final1.HobjectToHimage(hImage);
                    ////hWindow_Final1.ClearWindow();
                    ////HOperatorSet.GetImageSize(hImage,out HTuple width,out HTuple height);

                    ////hWindow_Final1.hWindowControl.ImagePart = new Rectangle()
                    HOperatorSet.ClearWindow(winHandle);
                    arg2.Dispose();
                    hWindow_Final1.HobjectToHimage(hImage);
                    //hWindow_Final1.ClearWindow();
                    //hWindow_Final1.DispObj(hImage);

                    HOperatorSet.GetImageSize(hImage, out HTuple imgWidth, out HTuple imgHeight);
                    HOperatorSet.GenCrossContourXld(out HObject camCenter, imgHeight / 2, imgWidth / 2, Math.Max(imgHeight, imgWidth), 0);
                    hWindow_Final1.DispObj(camCenter);
                    //505 685
                    HOperatorSet.GenCrossContourXld(out HObject ccc, 505, 685, 100, 0);
                    hWindow_Final1.DispObj(ccc,"red");
                    IoManager.Instance.WriteOut(LightName, 0);
                }    
                
            }
            
        }
        HTuple circle1Row = new HTuple();
        HTuple circle1Column = new HTuple();
        HTuple circle1Radius = new HTuple();
        HTuple circle1StartPhi = new HTuple();
        HTuple circle1EndPhi = new HTuple();
        HTuple[] c1 = new HTuple[] { 659.789184570313, 1660, 358.429901123047, 0.531410278720821, 1.1323930701261 };
        HTuple[] c2 = new HTuple[] { 1436.11840820313, 1639, 393.620727539063, 5.2841693241961, 5.80238301910421 };
        HTuple[] c3 = new HTuple[] { 1444, 952, 394.189666748047, 3.68072622782857, 4.15055583399968 };

        List<HDrawingObject> hDrawingObjects = new List<HDrawingObject>();
        private void btnLoadImage_Click(object sender, EventArgs e)
        {
            HOperatorSet.GenEmptyObj(out hImage);
            OpenFileDialog fileOpen=new OpenFileDialog();
            DialogResult dr = fileOpen.ShowDialog();
            if(dr == DialogResult.OK)
            {
                string filename = fileOpen.FileName;
                HOperatorSet.ReadImage(out hImage, 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(hImage);
               // pm.SourceImage = hImage.CopyObj(1,1);
                HOperatorSet.GetImageSize(hImage,out HTuple imgWidth,out HTuple imgHeight);

                HOperatorSet.GenCrossContourXld(out HObject cross, imgHeight/2, imgWidth/2, Math.Max(imgHeight,imgWidth), 0);
                hWindow_Final1.DispObj(cross,"green");
                //#region 添加圆

                ////添加圆1
                //circle1Row = 100;
                //circle1Column= 100;
                //circle1Radius = 80;
                //circle1StartPhi = 6.5;
                //circle1EndPhi = 1.4;
                
                //HDrawingObject circle1 = HDrawingObject.CreateDrawingObject(HDrawingObject.HDrawingObjectType.CIRCLE_SECTOR, c1);
                //HDrawingObject circle2 = HDrawingObject.CreateDrawingObject(HDrawingObject.HDrawingObjectType.CIRCLE_SECTOR, c2);
                //HDrawingObject circle3 = HDrawingObject.CreateDrawingObject(HDrawingObject.HDrawingObjectType.CIRCLE_SECTOR, c3);
                //hWindow_Final1.hWindowControl.HalconWindow.AttachDrawingObjectToWindow(circle1);
                //hWindow_Final1.hWindowControl.HalconWindow.AttachDrawingObjectToWindow(circle2);
                //hWindow_Final1.hWindowControl.HalconWindow.AttachDrawingObjectToWindow(circle3);
                //hDrawingObjects.Add(circle1);
                //hDrawingObjects.Add(circle2);
                //hDrawingObjects.Add(circle3);

                ////创建卡尺模型
                //HOperatorSet.CreateMetrologyModel(out HTuple metrologyHandle);
                ////添加圆弧卡尺工具
                //HTuple circleParam = new HTuple(new double[] { c1[0], c1[1], c1[2] });
                //HTuple genNames = new HTuple(new string[] { "start_phi", "end_phi" });
                //HTuple genValues = new HTuple(new double[] { c1[3], c1[4] });
                //HOperatorSet.AddMetrologyObjectGeneric(metrologyHandle, "circle", circleParam, 36, 20, 1, 30, genNames, genValues, out HTuple index);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index, "measure_transition", "positive");
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index, "measure_select", "first");
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index, "measure_threshold", 30);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index, "measure_length1", 36);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index, "measure_length2", 5);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index, "measure_distance", 30);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index, "min_score", 0.8);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index, "num_instances", 6);
                //HOperatorSet.ApplyMetrologyModel(img, metrologyHandle);

                //HOperatorSet.GetMetrologyObjectMeasures(out HObject contour, metrologyHandle, "all", "all", out HTuple rows, out HTuple columns);
                //HOperatorSet.GenCrossContourXld(out HObject crosss, rows, columns, 20, 0);
                //HOperatorSet.GenContourPolygonXld(out HObject circleContour, rows, columns);
                ////拟合圆
                //HOperatorSet.FitCircleContourXld(circleContour, "algebraic", -1, 0, 0, 3, 2, out HTuple circleRow, out HTuple circleColumn, out HTuple circleRadius, out HTuple circleStartPhi, out HTuple circleEndPhi, out HTuple pointOrder);
                //HOperatorSet.GenCircle(out HObject realCicle, circleRow, circleColumn, circleRadius);
                //hWindow_Final1.DispObj(contour);
                //hWindow_Final1.DispObj(realCicle, "green");
                //hWindow_Final1.DispObj(crosss, "green");



                ////添加圆弧卡尺工具
                //HTuple circleParam2 = new HTuple(new double[] { c2[0], c2[1], c2[2] });
                //HTuple genNames2 = new HTuple(new string[] { "start_phi", "end_phi" });
                //HTuple genValues2 = new HTuple(new double[] { c2[3], c2[4] });
                //HOperatorSet.AddMetrologyObjectGeneric(metrologyHandle, "circle", circleParam2, 36, 20, 1, 30, genNames2, genValues2, out HTuple index2);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index2, "measure_transition", "positive");
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index2, "measure_select", "first");
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index2, "measure_threshold", 40);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index2, "measure_length1", 36);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index2, "measure_length2", 5);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index2, "measure_distance", 30);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index2, "min_score", 0.8);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index2, "num_instances", 6);
                //HOperatorSet.ApplyMetrologyModel(img, metrologyHandle);

                //HOperatorSet.GetMetrologyObjectMeasures(out HObject contour2, metrologyHandle, index2, "all", out HTuple rows2, out HTuple columns2);
                //HOperatorSet.GenCrossContourXld(out HObject crosss2, rows2, columns2, 20, 0);
                //HOperatorSet.GenContourPolygonXld(out HObject circleContour2, rows2, columns2);
                ////拟合圆
                //HOperatorSet.FitCircleContourXld(circleContour2, "algebraic", -1, 0, 0, 3, 2, out HTuple circleRow2, out HTuple circleColumn2, out HTuple circleRadius2, out HTuple circleStartPhi2, out HTuple circleEndPhi2, out HTuple pointOrder2);
                //HOperatorSet.GenCircle(out HObject realCicle2, circleRow2, circleColumn2, circleRadius2);
                //hWindow_Final1.DispObj(contour2);
                //hWindow_Final1.DispObj(realCicle2, "green");
                //hWindow_Final1.DispObj(crosss2, "green");




                ////添加圆弧卡尺工具
                //HTuple circleParam3 = new HTuple(new double[] { c3[0], c3[1], c3[2] });
                //HTuple genNames3 = new HTuple(new string[] { "start_phi", "end_phi" });
                //HTuple genValues3 = new HTuple(new double[] { c3[3], c3[4] });
                //HOperatorSet.AddMetrologyObjectGeneric(metrologyHandle, "circle", circleParam3, 36, 10, 1, 30, genNames3, genValues3, out HTuple index3);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index3, "measure_transition", "positive");
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index3, "measure_select", "first");
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index3, "measure_threshold", 30);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index3, "measure_length1", 36);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index3, "measure_length2", 5);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index3, "measure_distance", 30);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index3, "min_score", 0.8);
                //HOperatorSet.SetMetrologyObjectParam(metrologyHandle, index3, "num_instances", 6);
                //HOperatorSet.ApplyMetrologyModel(img, metrologyHandle);

                //HOperatorSet.GetMetrologyObjectMeasures(out HObject contour3, metrologyHandle, index3, "all", out HTuple rows3, out HTuple columns3);
                //HOperatorSet.GenCrossContourXld(out HObject crosss3, rows3, columns3, 20, 0);
                //HOperatorSet.GenContourPolygonXld(out HObject circleContour3, rows3, columns3);
                ////拟合圆
                //HOperatorSet.FitCircleContourXld(circleContour3, "algebraic", -1, 0, 0, 3, 2, out HTuple circleRow3, out HTuple circleColumn3, out HTuple circleRadius3, out HTuple circleStartPhi3, out HTuple circleEndPhi3, out HTuple pointOrder3);
                //HOperatorSet.GenCircle(out HObject realCicle3, circleRow3, circleColumn3, circleRadius3);
                //hWindow_Final1.DispObj(contour3);
                //hWindow_Final1.DispObj(realCicle3, "green");
                //hWindow_Final1.DispObj(crosss3, "green");




                //HOperatorSet.GenRegionLine(out HObject regionLines, circleRow2, circleColumn2, circleRow3, circleColumn3);
                //hWindow_Final1.DispObj(regionLines, "green");

                //foreach (HDrawingObject hdo in hDrawingObjects)
                //{
                //    hdo.ClearDrawingObject();
                //}

                //#endregion
            }

        }


        
        private void btnGrab_Click(object sender, EventArgs e)
        {
            ImageProcess.ClearManualTrigger();
            HikCamera.Instance.SetTrigger(cameraName, ETriggerMode.Manual);
            bGrabContinue = false;
            if (CustomDefineGrabEvent!=null)
            {
                CustomDefineGrabEvent?.Invoke();
                LoadImage();
            }
            else
            {
                LightName = SysConfigParam.GetValue<string>(cameraName + "LightName");
                if (!string.IsNullOrEmpty(LightName))
                {
                    if (!string.IsNullOrEmpty(cameraName))
                    {
                        bGrab = true;
                        
                        if (ManualGrab == null)
                        {
                            IoManager.Instance.WriteOut(LightName, 0);
                            Thread.Sleep(50);
                            IoManager.Instance.WriteOut(LightName, 1);
                            Thread.Sleep(100);
                            HikCamera.Instance.Grab(cameraName);
                        }
                        else
                        {
                            ManualGrab?.Invoke();
                        }
                        //Thread.Sleep(50);

                        LoadImage();
                    }
                    else
                    {
                        Msg.ShowError("请先先择相机");
                    }
                }
                else
                {
                    Msg.ShowError("未设置相机对应的光源，请到变量中配置！");
                }
            }
            
        }
        bool bGrabContinue = false;

        public void StopGrab()
        {
            bGrabContinue = false;
        }
        private void btnGrabContinue_Click(object sender, EventArgs e)
        {
            bGrabContinue = !bGrabContinue;
            if (bGrabContinue)
            {
                btnGrabContinue.Text = "停止取图";
            }
            else
            {
                btnGrabContinue.Text = "连续取图";
            }
            if (CustomDefineGrabEvent!=null)
            {
                Task.Run(() => {
                    while (bGrabContinue)
                    {
                        bGrab = true;
                        ImageProcess.ClearManualTrigger();
                        CustomDefineGrabEvent?.Invoke();
                        LoadImage();
                        Thread.Sleep(300);
                    }
                });
            }
            else
            {
                LightName = SysConfigParam.GetValue<string>(cameraName + "LightName");
                if (!string.IsNullOrEmpty(cameraName))
                {
                    HikCamera.Instance.SetTrigger(cameraName, ETriggerMode.Manual);
                    //bGrabContinue = !bGrabContinue;
                    Task.Run(() => {
                        while (bGrabContinue)
                        {
                            bGrab = true;
                            ImageProcess.ClearManualTrigger();
                            IoManager.Instance.WriteOut(LightName, 0);
                            Thread.Sleep(50);
                            IoManager.Instance.WriteOut(LightName, 1);
                            Thread.Sleep(50);
                            HikCamera.Instance.Grab(cameraName);
                            LoadImage();
                            Thread.Sleep(300);
                        }
                    });
                }
            }
               
        }

        protected override void OnVisibleChanged(EventArgs e)
        {
            base.OnVisibleChanged(e);
        }

        private void LoadImage()
        {
            Stopwatch time = new Stopwatch();
            time.Start();
            while (true && time.ElapsedMilliseconds < 3000 && bGrab == true)
            {
                if (ImageProcess.manualTriggerEvent.WaitOne(100))
                {
                    if (ImageProcess.GetManualImage().IsInitialized())
                    {
                        hImage = ImageProcess.GetManualImage().CopyObj(1, 1);
                        hWindow_Final1.ClearWindow();
                        if(winHandle.IsInitialized())
                        {
                            HOperatorSet.ClearWindow(winHandle);
                            HObject imgRotate = new HObject();
                            //arg2.Dispose();
                            if (cameraName==SysConfigParam.GetValue<string>("UpCameraName"))
                            {
                                HOperatorSet.RotateImage(hImage, out hImage, SysConfigParam.GetValue<double>("UpCameraRotate"), "constant");
                            }
                            else if(cameraName== SysConfigParam.GetValue<string>("DownLocationCameraName"))
                            {
                                HOperatorSet.RotateImage(hImage, out hImage, SysConfigParam.GetValue<double>("DownLocationCameraRotate"), "constant");
                            }
                            else
                            {
                                HOperatorSet.RotateImage(hImage, out hImage, 0, "constant");
                            }
                            //HOperatorSet.WriteImage(hImage, "bmp", 0, "d://1");
                            hWindow_Final1.HobjectToHimage(hImage);
                            HOperatorSet.GetImageSize(hImage, out HTuple imgWidth, out HTuple imgHeight);
                            HOperatorSet.GenCrossContourXld(out HObject camCenter, imgHeight / 2, imgWidth / 2, Math.Max(imgHeight, imgWidth), 0);
                            hWindow_Final1.DispObj(camCenter);
                            IoManager.Instance.WriteOut(LightName, 0);
                            if(eFindShapeMode == EFindShapeMode.SelfDefine)
                            {
                                FindShapeEvent?.Invoke(hWindow_Final1, hImage);
                            }
                            break;
                        }
                        
                    }
                }
            }
            if(time.ElapsedMilliseconds>3000)
            {
                IoManager.Instance.WriteOut(LightName, 0);
                Msg.ShowError("grab fail");
                
            }
            bGrab = false;
        }

        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(hImage, out partImage, row1, column1, column2 - column1, row2 - row1);
                HOperatorSet.ReduceDomain(hImage, 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);
            if(pm.FinalRegion!=null && pm.FinalRegion.IsInitialized())
            {
                HOperatorSet.ReduceDomain(hImage, 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)
            {
                Msg.ShowInfo("请先绘制ROI区域");
                return;
            }
            HOperatorSet.ClearWindow(hWindow_Final2.hWindowControl.HalconWindow);
            HOperatorSet.ReduceDomain(hImage, pm.FinalRegion, out HObject imageReduced);
            HOperatorSet.InspectShapeModel(imageReduced, out HObject modelImages, out HObject modelRegions, 1, 30);
            hWindow_Final1.DispObj(hImage);
            hWindow_Final1.DispObj(modelRegions, "green");
            HOperatorSet.SmallestRectangle1(pm.FinalRegion,out HTuple row1,out HTuple column1,out HTuple row2,out HTuple column2);
            HOperatorSet.SetPart(hWindow_Final2.hWindowControl.HalconWindow, row1 - 20, column1 - 20, row2 + 20, column2 + 20);
            hWindow_Final2.DispObj(imageReduced);
            hWindow_Final2.DispObj(modelRegions, "green");
        }

        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;
            }
            HTuple brushSize = new HTuple(int.Parse(txtBrushSize.Text));
            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.GenEmptyObj(out brushRegion);
            if(rbtnBrushCircle.Checked)
            {
                HOperatorSet.GenCircle(out brushRegion, 50, 50, brushSize.I);
            }
            if (rbtnBrushRectangle.Checked)
            {
                HOperatorSet.GenRectangle1(out brushRegion, 50, 50, 50+brushSize.I,50+brushSize.I);
            }
            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(hImage, pm.FinalRegion, 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())
                    {
                        Thread.Sleep(10);
                        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, 180, "fill");
                                //HOperatorSet.Compose3(image1, image1, pm.SourceImage, out resultImage);
                                HOperatorSet.SetSystem("flush_graphic", "false");
                                HOperatorSet.DispObj(hImage, winHandle);
                                HOperatorSet.SetColor(winHandle, "#ff000099");
                                HOperatorSet.SetDraw(winHandle, "fill");
                                HOperatorSet.DispObj(pm.RemovedRegion, winHandle);
                                HOperatorSet.SetColor(winHandle, "green");
                                //HOperatorSet.DispObj(resultImage, winHandle);
                                HOperatorSet.DispObj(modelRegions, winHandle);
                            }
                            else
                            {
                                HOperatorSet.SetSystem("flush_graphic", "false");
                                HOperatorSet.SetColor(winHandle, "green");
                                HOperatorSet.DispObj(hImage, 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;
                if(removedRegion.CountObj()>0)
                {
                    //HOperatorSet.PaintRegion(removedRegion, pm.SourceImage, out img, 120, "fill");
                    //HOperatorSet.Compose3(img, img, pm.SourceImage, out rltimg);
                    //hWindow_Final1.DispObj(rltimg);
                    //HOperatorSet.DispObj(pm.SourceImage, winHandle);
                    //HOperatorSet.SetColor(winHandle, "#ff000099");
                    HOperatorSet.SetDraw(winHandle, "fill");
                    //HOperatorSet.DispObj(pm.RemovedRegion, winHandle);
                    hWindow_Final1.viewWindow.setDrawModel(true);
                    hWindow_Final1.HobjectToHimage(hImage);
                    hWindow_Final1.hWindowControl.HalconWindow.SetDraw("fill");
                    hWindow_Final1.DispObj(pm.RemovedRegion, "#ff000099");
                }
                


                //hWindow_Final1.DispObj(pm.SourceImage);
                //HOperatorSet.ClearWindow(winHandle);
                HOperatorSet.ReduceDomain(hImage, 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);
            hWindow_Final1.DispObj(pm.SourceImage);
            HOperatorSet.SetDraw(hWindow_Final1.hWindowControl.HalconWindow, "fill");
            //HOperatorSet.SetColor(hWindow_Final1.hWindowControl.HalconWindow, "#b91ff9ff");
            
            hWindow_Final1.DispObj(pm.RemovedRegion,removedColor);
            //HOperatorSet.DispObj(pm.RemovedRegion, hWindow_Final1.hWindowControl.HalconWindow);
        }

        private void btnSaveModel_Click(object sender, EventArgs e)
        {
            //for(int i=0;i<3;i++)
            //{
            //    HTuple row1 = hDrawingObjects[i].GetDrawingObjectParams("row");
            //    HTuple column1 = hDrawingObjects[i].GetDrawingObjectParams("column");
            //    HTuple radius1 = hDrawingObjects[i].GetDrawingObjectParams("radius");
            //    HTuple start_phi = hDrawingObjects[i].GetDrawingObjectParams("start_angle");
            //    HTuple end_phi = hDrawingObjects[i].GetDrawingObjectParams("end_angle");
            //    string content = $"{row1.D},{column1.D},{radius1.D},{start_phi.D},{end_phi.D}";
            //}

            pm.SourceImage = hImage.CopyObj(1, 1);
            pm.Contrast = tbarContrast.Value;
            pm.AngleStart = int.Parse(txtAngleStart.Text);
            pm.AngleExtent = int.Parse(txtAngleExtent.Text);
            pm.Score=double.Parse(txtScore.Text);
            //pm.ItemName = m_itemName;
            pm.SaveModel(m_savePath);
            Msg.ShowInfo("Save product model success!");
        }

        private void btnTestModel_Click(object sender, EventArgs e)
        {
            if(eFindShapeMode== EFindShapeMode.Model)
            {
                //先加载模板
                IniHelper ini = new IniHelper(Path.Combine(m_savePath, "default.ini"));
                string AngleStart = ini.ReadValue("ModelParam", "AngleStart", "-10");
                string AngleExtent = ini.ReadValue("ModelParam", "AngleExtent", "10");
                string Score = ini.ReadValue("ModelParam", "Score","0.5");

                dataGridView1.Rows.Clear();
                string filePath = Path.Combine(m_savePath, "model.shm");
                HOperatorSet.ReadShapeModel(filePath, out HTuple modelID);
                HOperatorSet.ReadRegion(out HObject searchRegion, Path.Combine(m_savePath + "\\search.reg"));
                if (searchRegion.IsInitialized())
                {
                    pm.SearchRegion = searchRegion;
                    HOperatorSet.ReduceDomain(hImage, pm.SearchRegion, out HObject searchImg);
                    HOperatorSet.GetShapeModelContours(out HObject modelContours, modelID, 1);
                    HOperatorSet.FindShapeModel(searchImg, modelID, AngleTool.Deg2Rad(double.Parse(AngleStart)), AngleTool.Deg2Rad(Math.Abs((double.Parse(AngleExtent) - double.Parse(AngleStart)))), new HTuple(double.Parse(Score)), 1, 0.7, "least_squares", 0, 0.9, out HTuple row, out HTuple column, out HTuple angle, out HTuple score);
                    if (score != null && score.Length > 0)
                    {
                        int len = score.Length;
                        for (int i = 0; i < len; i++)
                        {
                            HOperatorSet.VectorAngleToRigid(0, 0, 0, row[i].D, column[i].D, angle[i].D, out HTuple homMat2D);
                            HOperatorSet.AffineTransContourXld(modelContours, out HObject contoursAffineTrans, homMat2D);
                            hWindow_Final1.DispObj(contoursAffineTrans, "green");

                            matchResultRow = row.DArr[i];
                            matchResultColumn = column.DArr[i];
                            matchResultAngle =AngleTool.Rad2Deg( angle.DArr[i]);
                            matchResultScore = score.DArr[i];
                            int rowIndex = dataGridView1.Rows.Add();
                            dataGridView1.Rows[rowIndex].Cells[0].Value = matchResultRow.ToString("0.000");
                            dataGridView1.Rows[rowIndex].Cells[1].Value = matchResultColumn.ToString("0.000");
                            dataGridView1.Rows[rowIndex].Cells[2].Value = matchResultAngle.ToString("0.000");
                            dataGridView1.Rows[rowIndex].Cells[3].Value = matchResultScore.ToString("0.000");
                            HOperatorSet.GenCrossContourXld(out HObject cross, matchResultRow, matchResultColumn, 100, 0);
                            hWindow_Final1.DispObj(cross, "red");
                        }
                        //hWindow_Final1.ClearWindow();
                        //hWindow_Final1.HobjectToHimage(searchImg);
                        hWindow_Final1.DispObj(pm.SearchRegion, "red");
                    }
                    else
                    {
                        Msg.ShowError("未定位到产品");
                    }
                    HOperatorSet.GetImageSize(hImage, out HTuple imgWidth, out HTuple imgHeight);
                    HOperatorSet.GenCrossContourXld(out HObject camCenter, imgHeight / 2, imgWidth / 2, Math.Max(imgHeight, imgWidth), 0);
                    hWindow_Final1.DispObj(camCenter, "green");
                }
            }
            else
            {
                FindShapeEvent?.Invoke(hWindow_Final1, hImage);
            }
            
        }

        public void GetMatchResult(out double row,out double column,out double angle,out double score)
        {
            row=column=angle=score=0;
            row = matchResultRow;
            column=matchResultColumn;
            angle = matchResultAngle;
            score = matchResultScore;

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

        #region 加载
        private void CameraTemplate_Load(object sender, EventArgs e)
        {
            if(!DesignMode)
            {
                m_savePath =  Path.Combine("Recipe", SysConfigParam.GetValue<string>("CurRecipe"), ItemName);
                //加载所有相机
                foreach (string cam in HikCamera.Instance.GetCameras())
                {
                    cboxCamera.Items.Add(cam);
                    comboBox1.Items.Add(cam);
                }
                //当窗口加载时，检测是否已经创建了模板，如果已经创建了，则加载模板
                string filename = Path.Combine("Recipe", SysConfigParam.GetValue<string>("CurRecipe"), ItemName, "default.bmp");
                if (File.Exists(filename))
                {
                    HOperatorSet.ReadImage(out hImage, 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(hImage);
                    pm.SourceImage = hImage.CopyObj(1, 1);
                    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, "green");

                    HOperatorSet.ReadRegion(out HObject RoiRegion, Path.Combine(m_savePath, "roi.reg"));
                    pm.RoiRegion = RoiRegion;
                    hWindow_Final1.DispObj(RoiRegion, "green");
                    HOperatorSet.ReadRegion(out HObject RemovedRegion, Path.Combine(m_savePath, "remove.reg"));
                    pm.RemovedRegion = RemovedRegion;

                    HOperatorSet.ReadRegion(out HObject SearchRegion, Path.Combine(m_savePath, "search.reg"));
                    pm.SearchRegion = SearchRegion;
                }
                else
                {
                    if (!DesignMode)
                    {
                        filename = Path.Combine(Environment.CurrentDirectory, "default.bmp");
                        HOperatorSet.ReadImage(out hImage, filename);
                        hWindow_Final1.HobjectToHimage(hImage);
                    }

                }
                //查看参数文件是否存在,如果存在则加载参数
                string paramFile = Path.Combine(m_savePath, "default.ini");
                if (File.Exists(paramFile))
                {
                    IniHelper ini = new IniHelper(paramFile);
                    string contrast = ini.ReadValue("ModelParam", "Contrast");
                    string angleStart = ini.ReadValue("ModelParam", "AngleStart");
                    string angleExtent = ini.ReadValue("ModelParam", "AngleExtent");
                    string score = ini.ReadValue("ModelParam", "Score");
                    if (!string.IsNullOrEmpty(contrast) && !string.IsNullOrEmpty(angleStart) && !string.IsNullOrEmpty(angleExtent) && !string.IsNullOrEmpty(score))
                    {
                        tbarContrast.Value = int.Parse(contrast);
                        txtAngleStart.Text = angleStart;
                        txtAngleExtent.Text = angleExtent;
                        txtScore.Text = score;
                    }
                    string name = ini.ReadValue("Camera", "Name");
                    string exposure = ini.ReadValue("Camera", "Exposure");
                    string gain = ini.ReadValue("Camera", "Gain");
                    if (!string.IsNullOrEmpty(name) && !string.IsNullOrEmpty(exposure) && !string.IsNullOrEmpty(gain))
                    {
                        cboxCamera.SelectedItem = name;
                        txtExposure.Text = exposure;
                        txtGain.Text = gain;
                        cameraName = name;
                        HikCamera.Instance.SetExposure(name, float.Parse(exposure));
                        HikCamera.Instance.SetGain(name, float.Parse(gain));
                    }
                }
            }
        }
        #endregion
        private void btnDrawSearch_Click(object sender, EventArgs e)
        {
            DrawRoi(ERoiShape.Rectange, true);
        }

        private void txtExposure_KeyUp(object sender, KeyEventArgs e)
        {
            if(e.KeyCode== Keys.Enter)
            {
                if (!string.IsNullOrEmpty(cameraName))
                {
                    HikCamera.Instance.SetExposure(cameraName, float.Parse(txtExposure.Text));
                }
            }
        }

        private void txtGain_KeyUp(object sender, KeyEventArgs e)
        {
            if (e.KeyCode == Keys.Enter)
            {
                if (!string.IsNullOrEmpty(cameraName))
                {
                    HikCamera.Instance.SetGain(cameraName, float.Parse(txtGain.Text));
                }
            }
        }

        private void rbtnSearchSelectedRegion_CheckedChanged(object sender, EventArgs e)
        {
            if(rbtnSearchSelectedRegion.Checked)
            {
                btnDrawSearch.Visible = true;
            }
            else
            {
                btnDrawSearch.Visible = false;
            }
        }

        private void btnSaveParamer_Click(object sender, EventArgs e)
        {
            try
            {
                string dirPath = Path.Combine("Recipe",SysConfigParam.GetValue<string>("CurRecipe"),ItemName);
                if (!Directory.Exists(m_savePath))
                {
                    Directory.CreateDirectory(m_savePath);
                }

                IniHelper ini = new IniHelper(Path.Combine(m_savePath, "default.ini"));
                ini.WriteValue("Camera", "Name", cboxCamera.SelectedItem.ToString());
                ini.WriteValue("Camera", "Exposure", txtExposure.Text);
                ini.WriteValue("Camera", "Gain", txtGain.Text);
                cameraName = cboxCamera.SelectedItem.ToString();
                Msg.ShowInfo("Save parameter success!");
            }
            catch (Exception ex)
            {
                Msg.ShowError(ex.Message);
            }
            
            
        }

        private void DrawRoi(ERoiShape roiShape,bool isSearch=false)
        {
            HImage img = hWindow_Final1.Image;
            hImage = img.CopyObj(1, 1);
            pm.SourceImage = hImage.CopyObj(1,1);
            if (img!=null)
            {
                pm.SourceImage = img;
            }
            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, 20, "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);
            }
           
            if(isSearch)
            {
                pm.SearchRegion = roiRegion;
                hWindow_Final1.DispObj(pm.SearchRegion, "green");
            }
            else
            {
                pm.RoiRegion = roiRegion;
                hWindow_Final1.DispObj(pm.RoiRegion, "green");
                
                
            }
            //pm.RoiRow1 = row1; pm.RoiRow2 = row2;
            //pm.RoiColumn1 = column1; pm.RoiColumn2 = column2;

            hWindow_Final1.DrawModel = false;
        }
    }
}