RealSys.MotionPlat/Rs.MotionPlat/SysConfig/DownCameraCalibration.cs

using ChoiceTech.Halcon.Control;
using HalconDotNet;
using Rs.Framework;
using Rs.MotionPlat.Flow;
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.Tasks;
using System.Windows.Forms;
using static System.Net.Mime.MediaTypeNames;

namespace Rs.MotionPlat.SysConfig
{
    public partial class DownCameraCalibration : BaseForm
    {
        public DownCameraCalibration()
        {
            InitializeComponent();
            cameraTemplate1.ItemName = "下相机标定";
            cameraTemplate1.SetFindShapeMode(EFindShapeMode.SelfDefine);
            cameraTemplate1.FindShapeEvent += CameraTemplate1_FindShapeEvent;
        }

        private void CameraTemplate1_FindShapeEvent(ChoiceTech.Halcon.Control.HWindow_Final win, HObject sourceImage)
        {

            HOperatorSet.Threshold(sourceImage, out HObject Region, new HTuple(0), new HTuple(100));
            HOperatorSet.Connection(Region, out HObject connectedRegion);
            if (connectedRegion.IsInitialized() && connectedRegion.CountObj() > 0)
            {
                HOperatorSet.SelectShape(connectedRegion, out HObject selectedRegion, "area", "and", new HTuple(2000), new HTuple(3000));
                if (selectedRegion.IsInitialized() && selectedRegion.CountObj() > 0)
                {
                    HOperatorSet.SelectShape(selectedRegion, out HObject lastRegion, "circularity", "and", new HTuple(0.8), new HTuple(1));
                    if (lastRegion.IsInitialized() && lastRegion.CountObj() > 0)
                    {
                        HOperatorSet.SmallestCircle(lastRegion, out HTuple row, out HTuple column, out HTuple radius);
                        HOperatorSet.GenCrossContourXld(out HObject cross, row, column, new HTuple(20), new HTuple(0));
                        win.DispObj(cross, "green");
                        int rowIndex = dgvPixCalib.Rows.Add();
                        dgvPixCalib.Rows[rowIndex].Cells[0].Value = row.DArr[0].ToString("0.000");
                        dgvPixCalib.Rows[rowIndex].Cells[1].Value = column.DArr[0].ToString("0.000");
                    }
                }
            }

            //HOperatorSet.GetImageSize(sourceImage, out HTuple imgWidth, out HTuple imgHeight);
            //HOperatorSet.GenCrossContourXld(out HObject camCenter, imgHeight / 2, imgWidth / 2, Math.Max(imgHeight, imgWidth), 0);
            //win.DispObj(camCenter);


            //HOperatorSet.Threshold(sourceImage, out HObject regions, 40, 130);
            //HOperatorSet.Connection(regions, out HObject connectedRegions);
            //HOperatorSet.SelectShape(connectedRegions, out HObject selectedRegion, "circularity", "and", 0.8, 1);
            //HOperatorSet.SelectShape(selectedRegion, out HObject selectedRegion1, "area", "and", 800, 1500);

            ////HOperatorSet.FillUp(selectedRegion, out HObject regionFillUp);
            ////win.DispObj(regionFillUp, "green");
            //HOperatorSet.SmallestCircle(selectedRegion1, out HTuple row, out HTuple column, out HTuple radius);
            //HOperatorSet.GenCrossContourXld(out HObject cross, row, column, 30, 0);
            //HOperatorSet.GenCircle(out HObject cicle, row, column, radius);
            //win.DispObj(cicle, "green");
            //win.DispObj(cross, "green");


            //File.AppendAllText("c:test.csv",$"camerX:{imgHeight / 2},camerX:{imgWidth / 2},row:{row},column:{column}\r\n");
        }


        private void DownCameraCalibration_FormClosing(object sender, FormClosingEventArgs e)
        {
            cameraTemplate1.RemoveGrabEvent();
        }

        private void btnGetMatchResult_Click(object sender, EventArgs e)
        {
            cameraTemplate1.GetMatchResult(out double row, out double column, out double angle, out double score);
            int rowIndex = dgvPixCalib.Rows.Add();
            dgvPixCalib.Rows[rowIndex].Cells[0].Value = row.ToString("0.000");
            dgvPixCalib.Rows[rowIndex].Cells[1].Value = column.ToString("0.000");
            dgvPixCalib.Rows[rowIndex].Cells[2].Value = angle.ToString("0.000");
            dgvPixCalib.Rows[rowIndex].Cells[3].Value = score.ToString("0.000");
            Msg.ShowInfo($"{row},{column},{angle},{score}");
        }

        private void DownCameraCalibration_Load(object sender, EventArgs e)
        {
            dgvRotateCenter.AutoGenerateColumns = false;
            dgvPixCalib.AutoGenerateColumns = false;
        }

        private void btnMove_Click(object sender, EventArgs e)
        {
            AxisControl.LoadY.MoveOffset(double.Parse(txtMoveOffset.Text), 10);
        }

        private void btnCalcPix_Click(object sender, EventArgs e)
        {
            int count = dgvPixCalib.Rows.Count;
            if(count<2)
            {
                Msg.ShowError("移动次数少于一次");
                return;
            }
            double columnValY1 = double.Parse(dgvPixCalib.Rows[0].Cells[1].Value.ToString());
            double columnValY2 = double.Parse(dgvPixCalib.Rows[1].Cells[1].Value.ToString());
            double mmPerPix = (double.Parse(txtMoveOffset.Text) / (columnValY2 - columnValY1));
            txtMmPerPixX.Text = mmPerPix.ToString("0.0000");
            txtMmPerPixY.Text = mmPerPix.ToString("0.0000");
        }
    }
}