using HalconDotNet;
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using LB_VisionControls;
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using System.Data.Common;
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using LB_VisionProcesses.Alogrithms;
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using System.Windows.Forms;
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using static LB_VisionProcesses.Alogrithms.PointsCloudConvertTool;
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using OpenCvSharp;
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using System;
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using static System.Windows.Forms.VisualStyles.VisualStyleElement;
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using System.Diagnostics;
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namespace LB_VisionProcesses.Alogrithms
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{
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public partial class PointsCloudConvertToolEdit : TAlgorithmEdit
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{
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HWindowControl inputImageHSmartWindowControl = new HWindowControl();
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HWindowControl recordImageHSmartWindowControl = new HWindowControl();
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public PointsCloudConvertToolEdit(PointsCloudConvertTool subject = null)
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{
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if (subject != null && subject is PointsCloudConvertTool)
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{
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Subject = subject;
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}
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else
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{
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Subject = new PointsCloudConvertTool();
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}
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this.Dock = DockStyle.Fill;
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InitializeComponent();
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}
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/// <summary>
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/// 控件加载事件
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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private void PointsCloudConvertToolEdit_Load(object sender, EventArgs e)
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{
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pnlInputImage.Controls.Add(inputImageHSmartWindowControl);
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inputImageHSmartWindowControl.Dock = DockStyle.Fill;
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pnlRecordImage.Controls.Add(recordImageHSmartWindowControl);
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recordImageHSmartWindowControl.Dock = DockStyle.Fill;
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//遍历可以选择的Roi类型枚举
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foreach (var value in Enum.GetValues(typeof(RoiType)))
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{
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cmbTypeRoi.Items.Add(value.ToString());
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}
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//遍历可以选择的Fixture枚举
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cmbFixture.Items.Add("");
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foreach (string value in IProcess.dicFixtures.Keys)
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{
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cmbFixture.Items.Add(value.ToString());
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}
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//遍历可以选择的图片格式枚举
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foreach (var value in Enum.GetValues(typeof(ImageType)))
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{
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cmbInputType.Items.Add(value.ToString());
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cmbOutputType.Items.Add(value.ToString());
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}
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//foreach (var value in Enum.GetValues(typeof(PixelType)))
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// cmbAfterType.Items.Add(value.ToString());
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cmbTypeRoi.Text = RoiType.None.ToString();
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LoadParas();
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if (Subject.Result)
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{
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lblResult.BackColor = Color.Green;
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lblResult.Text = "True";
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}
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else
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{
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lblResult.BackColor = Color.Red;
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lblResult.Text = "False";
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}
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lblMsg.Text = Msg.Length > 50 ? Msg.Substring(0, 50) : Msg;
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lblMsgToolTip.SetToolTip(BtmStatusStrip, Msg);
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lblRunTime.Text = $"{Subject.RunTime}ms";
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// 把窗口对象推窗口栈中
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HDevWindowStack.Push(inputImageHSmartWindowControl.HalconWindow);
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HDevWindowStack.Push(recordImageHSmartWindowControl.HalconWindow);
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}
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/// <summary>
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/// 更新运行参数
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/// </summary>
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public override void UpdataInputs()
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{
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double dResult = 0;
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//设置运行参数
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Subject.Params.Inputs["输入格式"] = cmbInputType.SelectedItem.ToString();
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Subject.Params.Inputs["输出格式"] = cmbOutputType.SelectedItem.ToString();
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Subject.Params.Inputs["是否后处理"] = ckbAfter.Checked;
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if (cmbFixture.Text == "")
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{
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Subject.Params.Fixture = new Fixture();
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}
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else if (IProcess.dicFixtures.ContainsKey(cmbFixture.Text))
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{
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Subject.Params.Fixture = IProcess.dicFixtures[cmbFixture.Text];
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}
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//Type type = inputImageHSmartWindowControl.oRoi?.GetType();
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//switch (type)
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//{
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// case Type t when t == typeof(HRectangle2):
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// HRectangle2 hRectangle2 = (HRectangle2)inputImageHSmartWindowControl.oRoi;
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// Subject.Params.ROI
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// = new HRectangle2(hRectangle2.X - Subject.Params.Fixture.X, hRectangle2.Y - Subject.Params.Fixture.Y
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// , hRectangle2.Phi - Subject.Params.Fixture.Phi, hRectangle2.Width, hRectangle2.Height);
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// break;
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// case Type t when t == typeof(HCircle):
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// HCircle hCircle = (HCircle)inputImageHSmartWindowControl.oRoi;
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// Subject.Params.ROI
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// = new HCircle(hCircle.X - Subject.Params.Fixture.X, hCircle.Y - Subject.Params.Fixture.Y, hCircle.Radius);
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// break;
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// case Type t when t == typeof(HSegment):
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// HSegment hSegment = (HSegment)inputImageHSmartWindowControl.oRoi;
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// Subject.Params.ROI
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// = new HSegment(hSegment.StartX - Subject.Params.Fixture.X, hSegment.StartY - Subject.Params.Fixture.Y
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// , hSegment.EndX - Subject.Params.Fixture.X, hSegment.EndY - Subject.Params.Fixture.Y);
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// break;
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// default:
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// Subject.Params.ROI = new ROI();
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// break;
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//}
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}
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/// <summary>
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/// 加载运行参数
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/// </summary>
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public override void LoadParas()
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{
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this.BeginInvoke(new Action(() =>
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{
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cmbInputType.Text = Subject.Params.Inputs["输入格式"].ToString();
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cmbOutputType.Text = Subject.Params.Inputs["输出格式"].ToString();
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ckbAfter.Checked = Convert.ToBoolean(Subject.Params.Inputs["是否后处理"]);
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//cmbAfterType.Text = Subject.Params.Inputs["后处理格式"].ToString();
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if (Subject.InputImage != null)
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{
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if (Subject.InputImage is HObject)
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{
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TAlgorithm.DispImage((HObject)Subject.InputImage, inputImageHSmartWindowControl.HalconWindow);
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}
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else if (Subject.InputImage is HTuple)
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{
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btnLoadImage.Enabled = false;
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btnLoadParas.Enabled = false;
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HOperatorSet.ClearWindow(inputImageHSmartWindowControl.HalconWindow);
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// 显示3D模型
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Task.Run(() =>
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{
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HTuple hv_Pose = new HTuple();
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HTuple hv_CamParam = new HTuple();
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HTuple hv_GenParamName = new HTuple();
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HTuple hv_GenParamValue = new HTuple();
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hv_GenParamName = new HTuple("lut", "intensity");
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hv_GenParamValue = new HTuple("color1", "coord_z");
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TAlgorithm.visualize_object_model_3d(inputImageHSmartWindowControl.HalconWindow
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, (HTuple)Subject.InputImage, hv_CamParam,
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hv_Pose, hv_GenParamName, hv_GenParamValue, "显示3D点云模型",
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new HTuple(), new HTuple(), out HTuple poseOut);
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btnLoadImage.Enabled = true;
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btnLoadParas.Enabled = true;
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});
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}
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}
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Type type = Subject.Params.ROI?.GetType();
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if (Subject.Params.ROI != null)
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{
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switch (type)
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{
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case Type t when t == typeof(HRectangle2):
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{
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cmbTypeRoi.Text = RoiType.Rectangle2.ToString();
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break;
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}
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case Type t when t == typeof(HCircle):
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{
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cmbTypeRoi.Text = RoiType.Circle.ToString();
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break;
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}
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case Type t when t == typeof(HSegment):
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{
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cmbTypeRoi.Text = RoiType.Segment.ToString();
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break;
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}
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default:
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{
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cmbTypeRoi.Text = RoiType.None.ToString();
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break;
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}
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}
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if (cmbTypeRoi.Text.ToString() != "None")
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{
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ckbDrawRoi.Checked = true;
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}
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else
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{
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ckbDrawRoi.Checked = false;
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}
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//inputImageHSmartWindowControl.oRoi = Subject.Params.ROI;
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}
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if (Subject.Params.Fixture != null)
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{
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cmbFixture.Text = Subject.Params.Fixture.strName;
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}
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else
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{
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cmbFixture.Text = "";
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}
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//switch (type)
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//{
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// case Type t when t == typeof(HRectangle2):
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// inputImageHSmartWindowControl.oRoi
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// = new HRectangle2(Subject.Params.ROI.X + Subject.Params.Fixture.X, Subject.Params.ROI.Y + Subject.Params.Fixture.Y
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// , Subject.Params.ROI.Phi + Subject.Params.Fixture.Phi, ((HRectangle2)Subject.Params.ROI).Width, ((HRectangle2)Subject.Params.ROI).Height);
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// break;
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// case Type t when t == typeof(HCircle):
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// inputImageHSmartWindowControl.oRoi
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// = new HCircle(Subject.Params.ROI.X + Subject.Params.Fixture.X, Subject.Params.ROI.Y + Subject.Params.Fixture.Y
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// , ((HCircle)Subject.Params.ROI).Radius);
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// break;
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// case Type t when t == typeof(HSegment):
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// inputImageHSmartWindowControl.oRoi
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// = new HSegment(((HSegment)Subject.Params.ROI).StartX + Subject.Params.Fixture.X, ((HSegment)Subject.Params.ROI).StartY + Subject.Params.Fixture.Y
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// , ((HSegment)Subject.Params.ROI).EndX + Subject.Params.Fixture.X, ((HSegment)Subject.Params.ROI).EndY + Subject.Params.Fixture.Y);
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// break;
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// default:
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// inputImageHSmartWindowControl.oRoi = null;
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// break;
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//}
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}));
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}
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/// <summary>
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/// 更新输出结果
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/// </summary>
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public override void UpdataOutputs()
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{
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this.BeginInvoke(new Action(() =>
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{
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}));
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}
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/// <summary>
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/// 点击运行
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/// </summary>
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/// <param name="sender"></param>
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/// <param name="e"></param>
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public override void btnRun_Click(object sender, EventArgs e)
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{
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if (Subject.InputImage != null)
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{
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InputImage = Subject.InputImage;
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}
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DateTime StartTime = DateTime.Now;
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Run();
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//更新日志与结果
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this.BeginInvoke(new Action(() =>
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{
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if (Subject.Result)
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{
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lblResult.BackColor = Color.Green;
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lblResult.Text = "True";
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//recordImageHSmartWindowControl.SetColor("green");
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}
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else
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{
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lblResult.BackColor = Color.Red;
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lblResult.Text = "False";
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//recordImageHSmartWindowControl.SetColor("red");
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}
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lblMsg.Text = Msg.Length > 50 ? Msg.Substring(0, 50) : Msg;
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lblMsgToolTip.SetToolTip(BtmStatusStrip, Msg);
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lblRunTime.Text = $"{(DateTime.Now - StartTime).TotalMilliseconds}ms";
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UpdataOutputs();
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imgTabControl.SelectedTab = tabPageRecordImage;
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if (Subject.OutputImage != null)
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{
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if (Subject.OutputImage is HObject)
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{
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TAlgorithm.DispImage((HObject)Subject.OutputImage, recordImageHSmartWindowControl.HalconWindow);
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}
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else if (Subject.OutputImage is HTuple)
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{
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btnRun.Enabled = false;
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HOperatorSet.ClearWindow(recordImageHSmartWindowControl.HalconWindow);
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// 显示3D模型
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Task.Run(() =>
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{
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HTuple hv_Pose = new HTuple();
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HTuple hv_CamParam = new HTuple();
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HTuple hv_GenParamName = new HTuple();
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HTuple hv_GenParamValue = new HTuple();
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//hv_GenParamName = new HTuple("lut", "intensity");
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//hv_GenParamValue = new HTuple("color1", "coord_z");
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hv_GenParamName = new HTuple("disp_pose", "color_attrib", "lut");
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hv_GenParamValue = new HTuple("true", "coord_z", "color1");
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TAlgorithm.visualize_object_model_3d(recordImageHSmartWindowControl.HalconWindow
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, (HTuple)Subject.OutputImage, hv_CamParam,
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hv_Pose, hv_GenParamName, hv_GenParamValue, "显示3D点云模型",
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new HTuple(), new HTuple(), out HTuple poseOut);
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btnRun.Enabled = true;
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});
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}
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}
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//先判断子类再判断父类
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//if (Subject.Record != null && Subject.Record is MsgRecord)
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//{
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// MsgRecord MsgRecord = (MsgRecord)Subject.Record;
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// recordImageHSmartWindowControl.DispObj(MsgRecord.RecordObject);
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// for (int i = 0; i < MsgRecord.Msg.Length; i++)
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// recordImageHSmartWindowControl.ShowMsg(MsgRecord.Msg[i], Subject.Result, MsgRecord.Column[i], MsgRecord.Row[i]);
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//}
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//else if (Subject.Record != null && Subject.Record is ObjectRecord)
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// recordImageHSmartWindowControl.DispObj(((ObjectRecord)Subject.Record).RecordObject);
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GC.Collect();
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}));
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}
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public override void btnLoadImage_Click(object sender, EventArgs e)
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{
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OpenFileDialog openFileDialog = new OpenFileDialog();
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// 设置文件对话框的属性
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openFileDialog.Multiselect = false; // 不允许多选
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// 设置文件过滤器，支持多种文件类型
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bool bEnumParseSuccess = Enum.TryParse(cmbInputType.Text, out ImageType eInputImageType);
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if (bEnumParseSuccess)
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{
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switch (eInputImageType)
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{
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case ImageType.DeepImage:
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{
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openFileDialog.Filter = "Image Files (*.tif;*.tiff)|*.tif;*.tiff|All Files (*.*)|*.*";
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break;
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}
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case ImageType.PointsCloud:
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{
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openFileDialog.Filter = "Image Files (*.om3)|*.om3|All Files (*.*)|*.*";
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break;
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}
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default:
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{
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return;
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}
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}
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}
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else
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{
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return;
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}
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// 显示文件对话框
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DialogResult result = openFileDialog.ShowDialog();
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// 处理对话框返回结果
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if (result == DialogResult.OK)
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{
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// 获取用户选择的文件名
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string[] selectedFiles = openFileDialog.FileNames;
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if (selectedFiles.Length > 0)
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{
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if (bEnumParseSuccess)
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{
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switch (eInputImageType)
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{
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case ImageType.DeepImage:
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{
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HOperatorSet.ReadImage(out HObject ho_Image, selectedFiles[0]);
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if (ho_Image == null)
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{
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lblResult.BackColor = Color.Red;
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lblResult.Text = "False";
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lblMsg.Text = $"图片导入失败,路径为{selectedFiles[0]}";
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return;
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}
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Subject.InputImage = ho_Image;
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imgTabControl.SelectedTab = tabPageInputImage;
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TAlgorithm.DispImage(ho_Image, inputImageHSmartWindowControl.HalconWindow);
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break;
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}
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case ImageType.PointsCloud:
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{
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HOperatorSet.ReadObjectModel3d(selectedFiles[0], "m", new HTuple(), new HTuple()
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, out HTuple hv_ObjectModel3D, out HTuple hv_Status);
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if (hv_ObjectModel3D == null)
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{
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lblResult.BackColor = Color.Red;
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lblResult.Text = "False";
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lblMsg.Text = $"图片导入失败,路径为{selectedFiles[0]}";
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return;
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}
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Subject.InputImage = hv_ObjectModel3D;
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imgTabControl.SelectedTab = tabPageInputImage;
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btnLoadImage.Enabled = false;
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HOperatorSet.ClearWindow(inputImageHSmartWindowControl.HalconWindow);
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// 显示3D模型
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Task.Run(() =>
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{
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HTuple hv_Pose = new HTuple();
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HTuple hv_CamParam = new HTuple();
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HTuple hv_GenParamName = new HTuple();
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HTuple hv_GenParamValue = new HTuple();
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//hv_GenParamName = new HTuple("lut", "intensity");
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//hv_GenParamValue = new HTuple("color1", "coord_z");
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hv_GenParamName = new HTuple("disp_pose", "color_attrib", "lut");
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hv_GenParamValue = new HTuple("true", "coord_z", "color1");
|
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TAlgorithm.visualize_object_model_3d(inputImageHSmartWindowControl.HalconWindow
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, hv_ObjectModel3D, hv_CamParam,
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hv_Pose, hv_GenParamName, hv_GenParamValue, "显示3D点云模型",
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new HTuple(), new HTuple(), out HTuple poseOut);
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btnLoadImage.Enabled = true;
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});
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break;
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}
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default:
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{
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lblResult.BackColor = Color.Red;
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lblResult.Text = "False";
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lblMsg.Text = $"不支持输入格式[{cmbInputType.Text}]";
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return;
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}
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}
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}
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}
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}
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}
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public override void btnSaveParas_Click(object sender, EventArgs e) { base.btnSaveParas_Click(sender, e); }
|
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public override void ckbDrawRoi_CheckedChanged(object sender, EventArgs e)
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{
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//if (ckbDrawRoi.Checked)
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//{
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// inputImageHSmartWindowControl.bAollowDraw = true;
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// imgTabControl.SelectedTab = tabPageInputImage;
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//}
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//else
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//{
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// inputImageHSmartWindowControl.bAollowDraw = false;
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// Subject.Params.ROI = null;
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//}
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}
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public override void cmbTypeRoi_SelectedIndexChanged(object sender, EventArgs e)
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{
|
try
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{
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//if (Enum.TryParse(cmbTypeRoi.Text.ToString(), out RoiType type))
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//{
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// HTuple hv_imageWidth = 0;
|
// HTuple hv_imageHeight = 0;
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// if (InputImage != null && InputImage is HObject)
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// HOperatorSet.GetImageSize((HObject)InputImage, out hv_imageWidth, out hv_imageHeight);
|
// switch (type)
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// {
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// case RoiType.Rectangle2:
|
// inputImageHSmartWindowControl.oRoi
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// = new HRectangle2(hv_imageWidth.TupleReal() / 2, hv_imageHeight.TupleReal() / 2, 0
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// , hv_imageWidth.TupleReal() / 4, hv_imageHeight.TupleReal() / 4);
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// break;
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// case RoiType.Circle:
|
// inputImageHSmartWindowControl.oRoi
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// = new HCircle(hv_imageWidth.TupleReal() / 2, hv_imageHeight.TupleReal() / 2, hv_imageWidth.TupleReal() / 4);
|
// break;
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// case RoiType.Segment:
|
// inputImageHSmartWindowControl.oRoi
|
// = new HSegment(0, 0, hv_imageWidth.TupleReal() / 4, hv_imageHeight.TupleReal() / 4);
|
// break;
|
// case RoiType.None:
|
// default:
|
// inputImageHSmartWindowControl.oRoi = null;
|
// break;
|
// }
|
//}
|
}
|
catch { }
|
}
|
|
public override void cmbFixture_SelectedIndexChanged(object sender, EventArgs e)
|
{
|
try
|
{
|
if (IProcess.dicFixtures.ContainsKey(cmbFixture.Text))
|
{
|
Subject.Params.Fixture = IProcess.dicFixtures[cmbFixture.Text];
|
}
|
else
|
{
|
Subject.Params.Fixture = new Fixture();
|
}
|
}
|
catch { }
|
}
|
|
private void ckbAfter_CheckedChanged(object sender, EventArgs e)
|
{
|
cmbAfterType.Enabled = ckbAfter.Checked;
|
}
|
|
private void btnSaveImage_Click(object sender, EventArgs e)
|
{
|
// 创建 SaveFileDialog 实例
|
using (SaveFileDialog saveFileDialog = new SaveFileDialog())
|
{
|
// 设置对话框标题
|
saveFileDialog.Title = "保存文件";
|
|
// 设置默认路径
|
saveFileDialog.InitialDirectory = Application.StartupPath;
|
|
bool bEnumParseSuccess = Enum.TryParse(cmbOutputType.Text, out ImageType eOutputImageType);
|
|
if (bEnumParseSuccess && Subject.OutputImage != null)
|
{
|
switch (eOutputImageType)
|
{
|
case ImageType.DeepImage:
|
{
|
// 设置文件类型过滤器
|
saveFileDialog.Filter = "图像文件 (*.tif)|*.tif|所有文件 (*.*)|*.*";
|
// 设置默认文件名
|
saveFileDialog.FileName = "output.tif";
|
break;
|
}
|
case ImageType.PointsCloud:
|
{
|
// 设置文件类型过滤器
|
saveFileDialog.Filter = "图像文件 (*.om3)|*.om3|所有文件 (*.*)|*.*";
|
// 设置默认文件名
|
saveFileDialog.FileName = "output.om3";
|
break;
|
}
|
default:
|
{
|
return;
|
}
|
}
|
}
|
else
|
{
|
return;
|
}
|
|
|
// 显示对话框并检查用户是否点击了保存按钮
|
if (saveFileDialog.ShowDialog() == DialogResult.OK)
|
{
|
// 获取用户选择的文件路径
|
string fullPath = saveFileDialog.FileName;
|
Debug.WriteLine("选择的文件路径是: " + fullPath);
|
|
if (!string.IsNullOrEmpty(fullPath))
|
{
|
if (bEnumParseSuccess)
|
{
|
switch (eOutputImageType)
|
{
|
case ImageType.DeepImage:
|
{
|
try
|
{
|
if (Subject.OutputImage is HObject ho_Image)
|
HOperatorSet.WriteImage(ho_Image, "bmp", 0, fullPath);
|
}
|
catch { }
|
break;
|
}
|
case ImageType.PointsCloud:
|
{
|
try
|
{
|
if (Subject.OutputImage is HTuple hv_Image)
|
HOperatorSet.WriteObjectModel3d(hv_Image
|
, "om3", fullPath, new HTuple(), new HTuple());
|
}
|
catch { }
|
break;
|
}
|
default:
|
{
|
return;
|
}
|
}
|
}
|
}
|
}
|
}
|
}
|
}
|
}
|
