using HalconDotNet;
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using LB_VisionControl;
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using Newtonsoft.Json;
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using Newtonsoft.Json.Serialization;
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace LB_VisionProcesses.Alogrithms.Halcon
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{
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public class HCaltab : IDisposable
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{
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public HCaltab() { }
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public HCaltab(HCaltab HCaltab)
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{
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CameraInner = HCaltab.CameraInner.Clone();
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CameraPose = HCaltab.CameraPose.Clone();
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CameraInner_Adaptive = HCaltab.CameraInner_Adaptive.Clone();
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Map = HCaltab.Map.Clone();
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Xld = HCaltab.Xld.Clone();
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CaltbImages = new List<HObject>(HCaltab.CaltbImages);
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Params.XNum = HCaltab.Params.XNum;
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Params.YNum = HCaltab.Params.YNum;
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Params.MarkDist = HCaltab.Params.MarkDist;
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Params.DiameterRatio = HCaltab.Params.DiameterRatio;
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Params.Focus = HCaltab.Params.Focus;
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Params.Kappa = HCaltab.Params.Kappa;
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Params.Sx = HCaltab.Params.Sx;
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Params.Sy = HCaltab.Params.Sy;
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Params.Width = HCaltab.Params.Width;
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Params.Height = HCaltab.Params.Height;
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}
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public void Dispose()
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{
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try
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{
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ClearCaltbImages();
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if (Map != null && Map.IsInitialized())
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Map.Dispose();
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if (Xld != null && Xld.IsInitialized())
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Xld.Dispose();
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}
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catch { }
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}
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/// <summary>
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/// 名称
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/// </summary>
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public string Name = "Calibration_0";
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/// <summary>
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/// 信息
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/// </summary>
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public string Msg = "";
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/// <summary>
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/// 结果
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/// </summary>
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public bool Result
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{
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get
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{
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if (Map == null || !Map.IsInitialized())
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return false;
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if (CameraInner_Adaptive == null || CameraInner_Adaptive.Length == 0
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|| CameraPose == null || CameraPose.Length == 0)
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return false;
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return false;
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}
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}
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/// <summary>
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/// 文件路径
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/// </summary>
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public string FilePath = $"C://Name//";
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/// <summary>
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/// 标定参数文件
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/// </summary>
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public HCalibrationParam Params = new HCalibrationParam();
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List<HObject> CaltbImages = new List<HObject>();
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public HObject Image
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{
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get
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{
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if (CaltbImages.Count > 0)
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return CaltbImages[0];
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else
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return null;
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}
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}
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public HObject Xld = new HObject();
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/// <summary>
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/// 相机内参
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/// </summary>
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HTuple CameraInner = new HTuple();
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/// <summary>
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/// 相机外参
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/// </summary>
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HTuple CameraPose = new HTuple();
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/// <summary>
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/// 无畸变的相机内参
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/// </summary>
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HTuple CameraInner_Adaptive = new HTuple();
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/// <summary>
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/// 畸变变换图
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/// </summary>
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HObject Map = new HObject();
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#region 矫正结果
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public bool GetCaltbImage(HObject OriImage, out HObject CaltbImage)
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{
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CaltbImage = OriImage;
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try
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{
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if (OriImage == null || !OriImage.IsInitialized()
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|| Map == null || !Map.IsInitialized())
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return false;
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HOperatorSet.MapImage(OriImage, Map, out CaltbImage);
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return true;
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}
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catch { return false; }
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}
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public bool GetCaltbPoint(HPoint OriPoint, out HPoint CaltbPoint)
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{
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CaltbPoint = new HPoint(OriPoint);
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try
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{
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if (CameraInner_Adaptive == null || CameraInner_Adaptive.Length == 0
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|| CameraPose == null || CameraPose.Length == 0)
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return false;
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HOperatorSet.ImagePointsToWorldPlane(CameraInner_Adaptive, CameraPose
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, OriPoint.Row, OriPoint.Column, "mm", out HTuple row, out HTuple col);
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if (row.Length == 0 || col.Length == 0)
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return false;
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CaltbPoint.Row = row.D;
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CaltbPoint.Column = col.D;
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return true;
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}
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catch { return false; }
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}
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#endregion
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public bool LoadCaltbImages()
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{
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try
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{
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ClearCaltbImages();
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for (int i = 0; i < 999; i++)
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{
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string ImagePath = FilePath + $"//CaltbImages_{i}.bmp";
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if (!File.Exists(ImagePath))
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break;
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HOperatorSet.ReadImage(out HObject ho_Image, ImagePath);
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}
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return true;
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}
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catch { return false; }
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}
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public bool SaveCaltbImages()
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{
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//判断文件夹是否存在，防呆输入为文件名称
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if (!Directory.Exists(FilePath))
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{
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try
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{
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Directory.CreateDirectory(FilePath);
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}
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catch { }
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}
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try
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{
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for (int i = 0; i <= CaltbImages.Count; i++)
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{
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string ImagePath = FilePath + $"//CaltbImages_{i}.bmp";
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var Image = CaltbImages[i];
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if (Image != null && Image.IsInitialized())
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{
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HOperatorSet.CountChannels(Image, out HTuple hv_Channels);
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if (hv_Channels.TupleInt() != 1)
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HOperatorSet.Rgb1ToGray(Image, out Image);
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//Halcon存图需要用斜杠
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ImagePath.Replace("\\", "/");
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HOperatorSet.WriteImage(Image, "bmp", 0, ImagePath);
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}
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}
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}
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catch { return false; }
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return true;
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}
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public void ClearCaltbImages()
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{
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foreach (var image in CaltbImages)
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{
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if (image != null && image.IsInitialized())
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image.Dispose();
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}
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CaltbImages.Clear();
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CaltbImages = new List<HObject>();
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}
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public bool CheckCaltbImage(List<HObject> lst_Images = null, int Width = 0, int Height = 0)
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{
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if (lst_Images == null)
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lst_Images = CaltbImages;
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if (Width == 0 || Height == 0)
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{
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Width = Params.Width;
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Height = Params.Height;
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}
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foreach (var imge in lst_Images)
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{
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if (imge == null || !imge.IsInitialized())
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return false;
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HOperatorSet.GetImageSize(imge, out HTuple hv_Width, out HTuple hv_Height);
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if (hv_Width.Length == 0 || hv_Height.Length == 0
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|| hv_Width.I != Width || hv_Height.I != Height)
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return false;
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}
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return true;
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}
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public bool Caltb(List<HObject> lst_Images)
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{
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try
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{
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if (!CheckCaltbImage(lst_Images))
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return false;
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BaseCalib.CreateCaltab(FilePath, Params.XNum, Params.YNum, Params.MarkDist, Params.DiameterRatio);
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BaseCalib.gen_cam_par_area_scan_division(Params.Focus / 1000.0, Params.Kappa
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, Params.Sx / 1000000.0, Params.Sy / 1000000.0
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, Params.Width / 2.0, Params.Height / 2.0, Params.Width, Params.Height, out HTuple CameraParam);
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string CalPlateDescr = Params.CalPlateDescr;
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string CameraInnerPath = FilePath + "//CameraInner_Adaptive.tup";
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string CameraPosePath = FilePath + "//CameraPose.tup";
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CalPlateDescr.Replace("\\", "/");
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CameraInnerPath.Replace("\\", "/");
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CameraPosePath.Replace("\\", "/");
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BaseCalib.CaltabCalib(CameraParam, lst_Images
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, out HTuple hv_CameraInner, out HTuple hv_CameraPose, out HTuple hv_CameraInner_Adaptive
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, out HObject ho_Map, out Xld
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, CalPlateDescr, CameraInnerPath, CameraPosePath);
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if (hv_CameraInner == null || hv_CameraPose == null || hv_CameraInner_Adaptive == null
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|| ho_Map == null || !ho_Map.IsInitialized())
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return false;
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CameraInner = hv_CameraInner.Clone();
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CameraPose = hv_CameraPose.Clone();
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CameraInner_Adaptive = hv_CameraInner_Adaptive.Clone();
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Map = ho_Map.Clone();
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CaltbImages = lst_Images;
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return SaveCaltbImages();
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}
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catch { return false; }
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}
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public bool Caltb(List<HObject> lst_Images, int XNum, int YNum, int MarkDist, double DiameterRatio
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, int Focus, int Kappa, double Sx, double Sy, int Width, int Height)
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{
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if (!CheckCaltbImage(lst_Images, Width, Height))
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return false;
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BaseCalib.CreateCaltab(FilePath, XNum, YNum, MarkDist, DiameterRatio);
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BaseCalib.gen_cam_par_area_scan_division(Focus / 1000.0, Kappa
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, Sx / 1000000.0, Sy / 1000000.0
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, Width / 2.0, Height / 2.0, Width, Height, out HTuple CameraParam);
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string CalPlateDescr = Params.CalPlateDescr;
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string CameraInnerPath = FilePath + "//CameraInner_Adaptive.tup";
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string CameraPosePath = FilePath + "//CameraPose.tup";
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CalPlateDescr.Replace("\\", "/");
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CameraInnerPath.Replace("\\", "/");
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CameraPosePath.Replace("\\", "/");
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BaseCalib.CaltabCalib(CameraParam, CaltbImages
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, out HTuple hv_CameraInner, out HTuple hv_CameraPose, out HTuple hv_CameraInner_Adaptive
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, out HObject ho_Map, out Xld
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, CalPlateDescr, CameraInnerPath, CameraPosePath);
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if (hv_CameraInner == null || hv_CameraPose == null || hv_CameraInner_Adaptive == null
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|| ho_Map == null || !ho_Map.IsInitialized())
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return false;
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CameraInner = hv_CameraInner.Clone();
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CameraPose = hv_CameraPose.Clone();
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CameraInner_Adaptive = hv_CameraInner_Adaptive.Clone();
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Map = ho_Map.Clone();
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CaltbImages = lst_Images;
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Params.XNum = XNum;
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Params.YNum = YNum;
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Params.MarkDist = MarkDist;
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Params.DiameterRatio = DiameterRatio;
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Params.Focus = Focus;
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Params.Kappa = Kappa;
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Params.Sx = Sx;
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Params.Sy = Sy;
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Params.Width = Width;
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Params.Height = Height;
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return SaveCaltbImages();
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}
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public bool Load(string fullPath)
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{
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try
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{
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// 获取不带文件名的目录路径
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Name = Path.GetFileNameWithoutExtension(fullPath);
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// 修正真实路径,工具其路径为一个文件夹,而不是一个文件
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FilePath = Path.GetDirectoryName(fullPath) + Name;
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if (!File.Exists(fullPath))
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{
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Debug.WriteLine("文件不存在创建空文件");
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Save(FilePath);
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return true;
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}
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string strJson = string.Empty;
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using (StreamReader streamReader = new StreamReader(fullPath, Encoding.UTF8))
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{
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strJson = streamReader.ReadToEnd();
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streamReader.Close();
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}
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Params = JsonConvert.DeserializeObject<HCalibrationParam>(strJson);
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if (Params == null)
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return false;
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Params.Name = Name;
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Params.FilePath = FilePath;
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string CalPlateDescr = Params.CalPlateDescr;
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string CameraInnerPath = FilePath + "//CameraInner_Adaptive.tup";
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string CameraPosePath = FilePath + "//CameraPose.tup";
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//相机内参
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HOperatorSet.ReadTuple(CameraInnerPath, out CameraInner_Adaptive);
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//相机外参
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HOperatorSet.ReadTuple(CameraPosePath, out CameraPose);
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//BaseCalib.CreateCaltab(FilePath, Params.XNum, Params.YNum, Params.MarkDist, Params.DiameterRatio);
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//BaseCalib.gen_cam_par_area_scan_division(Params.Focus / 1000.0, Params.Kappa
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// , Params.Sx / 1000000.0, Params.Sy / 1000000.0
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// , Params.Width / 2.0, Params.Height / 2.0, Params.Width, Params.Height, out HTuple CameraParam);
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//CalPlateDescr.Replace("\\", "/");
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//CameraInnerPath.Replace("\\", "/");
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//CameraPosePath.Replace("\\", "/");
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//BaseCalib.CaltabCalib(CameraParam, CaltbImages
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// , out CameraInner, out CameraPose, out CameraInner_Adaptive, out Map, out _
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// , CalPlateDescr, CameraInnerPath, CameraPosePath);
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return LoadCaltbImages();
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}
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catch { return false; }
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}
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public bool Save(string filePath)
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{
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try
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{
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if (string.IsNullOrEmpty(filePath) || filePath.Trim() == "")
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{
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Debug.WriteLine("文件路径不完整");
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return false;
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}
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// 修正真实路径,工具其路径为一个文件夹,而不是一个文件
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filePath += ("//" + Name);
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string strJson = string.Empty;
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var settings = new JsonSerializerSettings
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{
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Formatting = Newtonsoft.Json.Formatting.Indented,
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// 自定义缩进（4空格）
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ContractResolver = new DefaultContractResolver
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{
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NamingStrategy = new CamelCaseNamingStrategy()
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}
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};
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strJson = JsonConvert.SerializeObject(Params, settings);
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Params = JsonConvert.DeserializeObject<HCalibrationParam>(strJson);
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//判断文件夹是否存在，防呆输入为文件名称
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if (!Directory.Exists(filePath))
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{
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try
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{
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Directory.CreateDirectory(filePath);
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}
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catch (Exception)
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{ }
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}
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// filePath 已经含了Name
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File.WriteAllText(filePath + "//Params.json", strJson, Encoding.UTF8);
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// filePath 已经含了Name
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FilePath = filePath;
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try
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{
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string CameraInnerPath = FilePath + "//CameraInner_Adaptive.tup";
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string CameraPosePath = FilePath + "//CameraPose.tup";
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//相机内参
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HOperatorSet.WriteTuple(CameraInner_Adaptive, CameraInnerPath);
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//相机外参
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HOperatorSet.WriteTuple(CameraPose, CameraPosePath);
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}
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catch { }
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return SaveCaltbImages();
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}
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catch { return false; }
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}
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}
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/// <summary>
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/// 畸变标定参数类
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/// </summary>
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[Serializable]
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public class HCalibrationParam
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{
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public HCalibrationParam() { }
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/// <summary>
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/// 名称
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/// </summary>
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public string Name = "Params";
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/// <summary>
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/// 文件路径
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/// </summary>
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public string FilePath = @"C://";
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/// <summary>
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/// 圆点行数
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/// </summary>
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public int XNum { get; set; } = 7;
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/// <summary>
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/// 圆点行数
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/// </summary>
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public int YNum { get; set; } = 7;
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/// <summary>
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/// 两个圆之间的距离, 单位mm
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/// </summary>
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public double MarkDist { get; set; } = 1.25;
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/// <summary>
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/// 比例值, Mark直径比上Mark中心距离
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/// </summary>
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public double DiameterRatio { get; set; } = 0.5;
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/// <summary>
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/// 用于标定的描述文件
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/// </summary>
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public string CalPlateDescr { get { return FilePath + $"//Caltab_{XNum}*{YNum}_{DiameterRatio}.descr"; } }
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/// <summary>
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/// 制作标定板的PS文件
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/// </summary>
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public string CalPlatePSFile { get { return FilePath + $"//Caltab_{XNum}*{YNum}_{DiameterRatio}.ps"; } }
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/// <summary>
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/// 厚度
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/// </summary>
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public int Thickness { get; set; } = 1;
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/// <summary>
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/// 相机类型(面扫描（除法))
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/// </summary>
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public string CamType { get; set; } = "area_scan_division";
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/// <summary>
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/// 单个相机像元的宽
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/// </summary>
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public double Sx { get; set; } = 8.3;
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/// <summary>
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/// 单个相机像元的高
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/// </summary>
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public double Sy { get; set; } = 8.3;
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/// <summary>
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/// 图像宽
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/// </summary>
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public int Width { get; set; } = 1120;
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/// <summary>
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/// 图像高
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/// </summary>
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public int Height { get; set; } = 1120;
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/// <summary>
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/// 镜头的焦距
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/// </summary>
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public double Focus { get; set; } = 8;
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public double Kappa { get; set; } = 0;
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/// <summary>
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/// 标定效果, 越接近0越越好
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/// </summary>
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public double RMS { get; set; } = 999.9;
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}
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}
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