mirror of
https://github.com/d-moco/panSight3DForm.git
synced 2025-01-10 12:37:15 -05:00
636 lines
22 KiB
C#
636 lines
22 KiB
C#
using Camera;
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using HalconDotNet;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Drawing;
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using System.Drawing.Imaging;
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using System.IO;
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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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using System.Windows.Forms;
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namespace PanSight3DForm
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{
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public partial class Form1 : Form
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{
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#region 变量
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CameraWrapper.SGEXPORT_ROI m_roi = new CameraWrapper.SGEXPORT_ROI();
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CameraWrapper.SGEXPORT_MODE m_mode = new CameraWrapper.SGEXPORT_MODE();
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CameraWrapper.SGEXPORT_CAMCONFIG m_cfg = new CameraWrapper.SGEXPORT_CAMCONFIG();
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CameraWrapper.SGEXPORT_PRODUCTINFO m_prod = new CameraWrapper.SGEXPORT_PRODUCTINFO();
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private CameraSyn m_camera = new CameraSyn();
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private bool isConnect = false;
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public string sourceIp;
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public string targetIp;
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float m_fTemperature = 0;
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enum TEST_TYPE { TEST_TYPE_GRAB_PNTS_CLOUD, TEST_TYPE_LOOP_GRAB, TEST_TYPE_PROFILES };
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TEST_TYPE m_testType = TEST_TYPE.TEST_TYPE_GRAB_PNTS_CLOUD;
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TcpServer server;
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#endregion
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public Form1()
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{
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InitializeComponent();
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m_camera.DepthEvent += onDepth;
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m_camera.prepare();
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server = new TcpServer(3000);
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server.CommandReceived += Server_CommandReceived;
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server.ClientConnected += Server_ClientConnected;
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server.ClientDisconnected += Server_ClientDisconnected;
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}
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private void M_camera_ImageEvent(IntPtr arg1, CameraWrapper.SG_IMGDATA_PARAM arg2, IntPtr arg3)
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{
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throw new NotImplementedException();
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}
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private void btn_cameraSetting_Click(object sender, EventArgs e)
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{
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tabControl2.SelectedIndex = 0;
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}
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private void btn_algSetting_Click(object sender, EventArgs e)
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{
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tabControl2.SelectedIndex = 1;
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}
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private void btn_connect_Click(object sender, EventArgs e)
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{
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if (!isConnect)
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{
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DetectForm1 detectForm = new DetectForm1();
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detectForm.TopMost = true;
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if (detectForm.ShowDialog() == DialogResult.OK)
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{
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sourceIp = detectForm.sourceIp;
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targetIp = detectForm.targetIp;
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if (m_camera.Connect2Camera(sourceIp, targetIp))
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{
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if (m_camera.GetRoiAndMedia(ref m_roi) == false)
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{
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MessageBox.Show("获取ROI失败");
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return;
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}
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if (m_camera.GetCamMode(ref m_mode) == false)
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{
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MessageBox.Show("获取模式失败");
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return;
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}
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cb_transmode.SelectedIndex = m_mode._ucTransMode;
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if (m_mode._ucDataType == (byte)CameraWrapper.DATATYPE.DATATYPE_PROFILE_GRAY)
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{
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checkBoxGray.Checked = true;
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}
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else
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{
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checkBoxGray.Checked = false;
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}
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numericUpDownLineNum.Value = m_mode._uiGrabNumber;
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if (m_camera.GetCamConfig(ref m_cfg) == false)
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{
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MessageBox.Show("获取配置失败");
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return;
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}
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if (m_camera.GetCamProductInfos(ref m_prod) == false)
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{
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MessageBox.Show("获取产品信息失败");
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return;
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}
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btn_connect.Text = "断开";
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isConnect = true;
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btn_connect.BackColor = Color.Red;
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lb_status.Text = "状态: 已连接";
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lb_status.BackColor = Color.Green;
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textBoxLocalIp.Text = sourceIp;
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textBoxRemoteIp.Text = targetIp;
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nud_expo.Value = m_cfg._uiExpo;
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cbb_gain.Text = m_cfg._usGain.ToString();
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nup_jiguang.Value = m_cfg._ucLaserPower;
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nud_frameData.Value = m_cfg._usFrame;
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nud_x.Value = (decimal)m_cfg._fXScaling;
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nud_y.Value = (decimal)m_cfg._fYScaling;
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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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m_camera.CloseCamera();
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btn_connect.Text = "连接";
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isConnect = false;
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btn_connect.BackColor = Color.OliveDrab;
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lb_status.Text = "状态: 未连接";
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lb_status.BackColor = Color.Red;
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textBoxLocalIp.Text = "";
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textBoxRemoteIp.Text = "";
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}
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}
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unsafe void saveDepthData(float* pBuf, uint bufSize)
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{
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string dataDir = "c:\\data";
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if (Directory.Exists(dataDir) == false)
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{
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Directory.CreateDirectory(dataDir);
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}
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string timestamp = DateTime.Now.ToString("yyMMddHHmmss_fff");
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string filename = string.Format("{0}\\Depth_t{1}.txt", dataDir, timestamp);
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StreamWriter sw = new StreamWriter(filename);
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string content = "";
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for (int i = 0; i < bufSize;)
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{
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content = string.Format("{0},{1},{2}", pBuf[i], pBuf[i + 1], pBuf[i + 2]);
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i += 3;
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sw.WriteLine(content);
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}
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sw.Close();
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Common.InvokeFunc(this, () => {
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labelTips.Text = "点云文件抓取成功，" + filename;
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});
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}
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int m_iGrabProfileNum = 0;
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int m_iGrabCallbackCount = 0;
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unsafe void onDepth(IntPtr pBuf, IntPtr pGrayBuf, CameraWrapper.SG_DEPTHDATA_PARAM param, IntPtr pOwner)
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{
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if (pBuf == null)
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{
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return;
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}
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Common.InvokeFunc(this, () => {
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labelTips.Text = "数据全部采集完成，开始转换显示";
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});
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if (param._bProfile == 1)
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{
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return;
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}
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int w = param._iPointNumPerLine;
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int h = param._iCapturedProfileLineNum;
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if (pGrayBuf != null && param._iCapturedProfileLineNum > 0)
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{
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// 显示灰度图
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showGrayImg((byte*)pGrayBuf, w, h);
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}
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if (pBuf != null && param._iCapturedProfileLineNum > 0)
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{
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// 显示高度图
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//showDepthImg(pBuf, param);
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showDepthImg((float*)pBuf, w, h);
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}
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// 重点声明一下，onDepth 函数是SDK中的线程回调上来的，这里面不要有耗时等待的操作。
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m_iGrabProfileNum = param._iCapturedProfileLineNum;
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m_iGrabCallbackCount++;
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if (m_testType != TEST_TYPE.TEST_TYPE_PROFILES)
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{
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// 抓取点云
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Common.InvokeFunc(this, () => {
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// 不要在SDK的回调线程中直接调用sdk接口,此处切换到ui线程中调用
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m_fTemperature = 0;
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m_camera.GetTemperature(ref m_fTemperature);
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labelMsg.Text = DateTime.Now.ToString("HH:mm:ss.fff") + " 抓取线数:" + m_iGrabProfileNum + " 温度:" + m_fTemperature;
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});
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}
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//if (h > 0)
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//{
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// saveDepthData((float*)pBuf, (uint)(w * h * 3));
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//}
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//Common.InvokeFunc(this, () => {
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// BufToHImage((float*)pBuf, (byte*)pGrayBuf, w, h);
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//});
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}
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unsafe void showGrayImg( byte* pGrayBuf, int width, int height)
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{
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int iPntsCount = width * height;
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float[] y_pBuf = new float[iPntsCount];
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float[] x_pBuf = new float[iPntsCount];
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float[] z_pBuf = new float[iPntsCount];
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byte[] grayBufff = null;
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if (pGrayBuf != null)
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{
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grayBufff = new byte[iPntsCount];
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}
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for (int i = 0; i < iPntsCount; i++)
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{
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if (pGrayBuf != null)
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{
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grayBufff[i] = pGrayBuf[i];
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}
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}
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//HTuple obj3DHandle;//3D句柄
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//HTuple hTupleX = new HTuple(x_pBuf);
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//HTuple hTupleY = new HTuple(y_pBuf);
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//HTuple hTupleZ = new HTuple(z_pBuf);
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//HTuple hTupleGray = new HTuple();
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//if (pGrayBuf != null)
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//{
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// hTupleGray = new HTuple(iPntsCount);
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//}
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//HOperatorSet.GenObjectModel3dFromPoints(hTupleX, hTupleY, hTupleZ, out obj3DHandle);
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//void* p0, p1, p2, p3;
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IntPtr ypRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height); //分配非托管内存空间
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IntPtr xpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
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IntPtr zpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
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IntPtr gpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
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fixed (void* py = y_pBuf)
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{
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ypRawData = new IntPtr(py);
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}
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fixed (void* px = x_pBuf)
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{
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xpRawData = new IntPtr(px);
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}
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fixed (void* pz = z_pBuf)
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{
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zpRawData = new IntPtr(pz);
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}
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if (pGrayBuf != null)
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{
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fixed (void* pg = grayBufff)
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{
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gpRawData = new IntPtr(pg);
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}
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}
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HObject img = null, x = null, y = null, z = null;
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img?.Dispose();
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HOperatorSet.GenImage3(out img, "real", width, height, xpRawData, ypRawData, zpRawData);
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x?.Dispose(); y?.Dispose(); z?.Dispose();
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HOperatorSet.Decompose3(img, out x, out y, out z);
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HTuple w, h;
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HOperatorSet.GetImageSize(z, out w, out h);
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HOperatorSet.SetPart(this.hWindowControlHeight.HalconWindow, 0, 0, h - 1, w - 1);
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HOperatorSet.DispObj(z, this.hWindowControlHeight.HalconWindow);
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if (pGrayBuf != null)
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{
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HObject gray = null;
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gray?.Dispose();
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HOperatorSet.GenImage1(out gray, "byte", width, height, gpRawData);
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HOperatorSet.GetImageSize(gray, out w, out h);
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HOperatorSet.SetPart(this.hWindowControlGray.HalconWindow, 0, 0, h - 1, w - 1);
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HOperatorSet.DispObj(gray, this.hWindowControlGray.HalconWindow);
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}
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}
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unsafe void showDepthImg(float* pBuf, int width, int height)
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{
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int iPntsCount = width * height;
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float[] y_pBuf = new float[iPntsCount];
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float[] x_pBuf = new float[iPntsCount];
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float[] z_pBuf = new float[iPntsCount];
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//float/*[*/] a_pBuf = new float[iPntsCount * 3];
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for (int i = 0; i < iPntsCount; i++)
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{
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y_pBuf[i] = pBuf[i * 3];
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x_pBuf[i] = pBuf[i * 3 + 1];
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z_pBuf[i] = pBuf[i * 3 + 2];
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//a_pBuf[i*3] = pBuf[i * 3];
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//a_pBuf[i*3+1] = pBuf[i * 3 + 1];
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//a_pBuf[i*3+2] = pBuf[i * 3 + 2];
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}
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//// 定义txt文件的路径
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//string filePath = "all_buf.txt";
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//// 使用StreamWriter写入文件
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//using (StreamWriter writer = new StreamWriter(filePath))
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//{
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// // 遍历数组并写入每个元素到txt文件
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// foreach (float value in a_pBuf)
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// {
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// writer.WriteLine(value);
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// }
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//}
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//// 定义txt文件的路径
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//filePath = "x1.txt";
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//// 使用StreamWriter写入文件
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//using (StreamWriter writer = new StreamWriter(filePath))
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//{
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// // 遍历数组并写入每个元素到txt文件
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// foreach (float value in x_pBuf)
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// {
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// writer.WriteLine(value);
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// }
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//}
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//// 定义txt文件的路径
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//filePath = "y1.txt";
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//// 使用StreamWriter写入文件
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//using (StreamWriter writer = new StreamWriter(filePath))
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//{
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// // 遍历数组并写入每个元素到txt文件
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// foreach (float value in y_pBuf)
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// {
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// writer.WriteLine(value);
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// }
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//}
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//HTuple obj3DHandle;//3D句柄
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//HTuple hTupleX = new HTuple(x_pBuf);
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//HTuple hTupleY = new HTuple(y_pBuf);
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//HTuple hTupleZ = new HTuple(z_pBuf);
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//HTuple hTupleGray = new HTuple();
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//if (pGrayBuf != null)
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//{
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// hTupleGray = new HTuple(iPntsCount);
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//}
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//HOperatorSet.GenObjectModel3dFromPoints(hTupleX, hTupleY, hTupleZ, out obj3DHandle);
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//void* p0, p1, p2, p3;
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IntPtr ypRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height); //分配非托管内存空间
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IntPtr xpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
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IntPtr zpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
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IntPtr gpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
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fixed (void* py = y_pBuf)
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{
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ypRawData = new IntPtr(py);
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}
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fixed (void* px = x_pBuf)
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{
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xpRawData = new IntPtr(px);
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}
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fixed (void* pz = z_pBuf)
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{
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zpRawData = new IntPtr(pz);
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}
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HObject img = null, x = null, y = null, z = null;
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img?.Dispose();
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HOperatorSet.GenImage3(out img, "real", width, height, xpRawData, ypRawData, zpRawData);
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x?.Dispose(); y?.Dispose(); z?.Dispose();
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HOperatorSet.Decompose3(img, out x, out y, out z);
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HTuple w, h;
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HOperatorSet.GetImageSize(z, out w, out h);
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HOperatorSet.SetPart(this.hWindowControlHeight.HalconWindow, 0, 0, h - 1, w - 1);
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HOperatorSet.DispObj(z, this.hWindowControlHeight.HalconWindow);
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}
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public byte Rescale(float value, float max, float min)
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{
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if (value < min)
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{
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return 0;
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}
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else if (value > max)
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{
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return 255;
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}
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else if (Math.Abs(max - min) < 0.00001)
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{
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// 同一个平面
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return 0;
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}
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return (byte)(((value - min) / (max - min)) * 255);
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}
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unsafe void BufToHImage(float* pBuf, byte* pGrayBuf, int width, int height)
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{
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int iPntsCount = width * height;
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float[] y_pBuf = new float[iPntsCount];
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float[] x_pBuf = new float[iPntsCount];
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float[] z_pBuf = new float[iPntsCount];
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byte[] grayBufff = null;
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if (pGrayBuf != null)
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{
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grayBufff = new byte[iPntsCount];
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}
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for (int i = 0; i < iPntsCount; i++)
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{
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y_pBuf[i] = pBuf[i * 3];
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x_pBuf[i] = pBuf[i * 3 + 1];
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z_pBuf[i] = pBuf[i * 3 + 2];
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if (pGrayBuf != null)
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{
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grayBufff[i] = pGrayBuf[i];
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}
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}
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//HTuple obj3DHandle;//3D句柄
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//HTuple hTupleX = new HTuple(x_pBuf);
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//HTuple hTupleY = new HTuple(y_pBuf);
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//HTuple hTupleZ = new HTuple(z_pBuf);
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//HTuple hTupleGray = new HTuple();
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//if (pGrayBuf != null)
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//{
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// hTupleGray = new HTuple(iPntsCount);
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//}
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//HOperatorSet.GenObjectModel3dFromPoints(hTupleX, hTupleY, hTupleZ, out obj3DHandle);
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//void* p0, p1, p2, p3;
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IntPtr ypRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height); //分配非托管内存空间
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IntPtr xpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
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IntPtr zpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
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IntPtr gpRawData = IntPtr.Zero;// Marshal.AllocHGlobal(width * height);
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fixed (void* py = y_pBuf)
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{
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ypRawData = new IntPtr(py);
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}
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fixed (void* px = x_pBuf)
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{
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xpRawData = new IntPtr(px);
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}
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fixed (void* pz = z_pBuf)
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{
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zpRawData = new IntPtr(pz);
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}
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if (pGrayBuf != null)
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{
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fixed (void* pg = grayBufff)
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{
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gpRawData = new IntPtr(pg);
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}
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}
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HObject img = null, x = null, y = null, z = null;
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img?.Dispose();
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HOperatorSet.GenImage3(out img, "real", width, height, xpRawData, ypRawData, zpRawData);
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x?.Dispose(); y?.Dispose(); z?.Dispose();
|
||
HOperatorSet.Decompose3(img, out x, out y, out z);
|
||
HTuple w, h;
|
||
|
||
HOperatorSet.GetImageSize(z, out w, out h);
|
||
HOperatorSet.SetPart(this.hWindowControlHeight.HalconWindow, 0, 0, h - 1, w - 1);
|
||
HOperatorSet.DispObj(z, this.hWindowControlHeight.HalconWindow);
|
||
|
||
if (pGrayBuf != null)
|
||
{
|
||
HObject gray = null;
|
||
gray?.Dispose();
|
||
HOperatorSet.GenImage1(out gray, "byte", width, height, gpRawData);
|
||
HOperatorSet.GetImageSize(gray, out w, out h);
|
||
HOperatorSet.SetPart(this.hWindowControlGray.HalconWindow, 0, 0, h - 1, w - 1);
|
||
HOperatorSet.DispObj(gray, this.hWindowControlGray.HalconWindow);
|
||
}
|
||
}
|
||
|
||
private void button1_Click(object sender, EventArgs e)
|
||
{
|
||
CameraWrapper.SGEXPORT_MODE mode = m_mode;
|
||
mode._ucCaptureMode = (byte)CameraWrapper.CAPMODE.CAPMODE_AUTO;
|
||
mode._uiGrabNumber = (uint)numericUpDownLineNum.Value;
|
||
if (checkBoxGray.Checked)
|
||
{
|
||
mode._ucDataType = (byte)CameraWrapper.DATATYPE.DATATYPE_PROFILE_GRAY;
|
||
}
|
||
else
|
||
{
|
||
mode._ucDataType = (byte)CameraWrapper.DATATYPE.DATATYPE_PROFILE;
|
||
}
|
||
mode._ucUserOperatorMode = (byte)CameraWrapper.DATAMODE.DATAMODE_GRAB;
|
||
mode._ucTransMode = (byte)cb_transmode.SelectedIndex; // 对应到 CameraWrapper.TRANSMODE
|
||
m_camera.SetCamMode(mode);
|
||
}
|
||
|
||
private void button2_Click(object sender, EventArgs e)
|
||
{
|
||
CameraWrapper.SGEXPORT_CAMCONFIG cfg = m_cfg;
|
||
m_cfg._usFrame = (ushort)nud_frameData.Value;
|
||
m_cfg._fYScaling = (ushort)nud_y.Value;
|
||
m_cfg._fXScaling = (ushort)nud_x.Value;
|
||
var ret = m_camera.SetCamConfig(m_cfg);
|
||
|
||
}
|
||
|
||
private void button3_Click(object sender, EventArgs e)
|
||
{
|
||
m_camera.GetCamConfig(ref m_cfg);
|
||
m_cfg._uiExpo = (uint)nud_expo.Value;
|
||
m_cfg._usGain = ushort.Parse(cbb_gain.Text);
|
||
m_cfg._ucLaserPower = (byte)nup_jiguang.Value;
|
||
m_camera.SetCamConfig(m_cfg);
|
||
|
||
}
|
||
|
||
private void buttonCapture_Click(object sender, EventArgs e)
|
||
{
|
||
labelTips.Text = "开始抓取...";
|
||
bool ret = m_camera.SendGrabSignalToCameraEx(false);
|
||
if (ret == false)
|
||
{
|
||
labelMsg.Text = "抓取失败";
|
||
}
|
||
}
|
||
|
||
private void buttonStart_Click(object sender, EventArgs e)
|
||
{
|
||
if (m_mode._ucUserOperatorMode != (byte)CameraWrapper.DATAMODE.DATAMODE_GRAB)
|
||
{
|
||
MessageBox.Show("相机模式不对（非抓取模式）");
|
||
return;
|
||
}
|
||
|
||
bool bStart = m_camera.StartCapture();
|
||
if (bStart)
|
||
{
|
||
labelMsg.Text = "准备抓取成功，请使用定时抓取或单步触发功能";
|
||
}
|
||
else
|
||
{
|
||
labelMsg.Text = "准备抓起失败";
|
||
}
|
||
}
|
||
|
||
private void buttonStop_Click(object sender, EventArgs e)
|
||
{
|
||
bool bStop = m_camera.StopCapture();
|
||
if (bStop)
|
||
{
|
||
labelMsg.Text = "结束抓取成功";
|
||
}
|
||
else
|
||
{
|
||
labelMsg.Text = "结束抓起失败";
|
||
}
|
||
}
|
||
|
||
private void Form1_FormClosing(object sender, FormClosingEventArgs e)
|
||
{
|
||
|
||
}
|
||
|
||
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
|
||
{
|
||
|
||
CameraSyn.LibRelease();
|
||
}
|
||
|
||
private void Server_ClientDisconnected(object sender, EventArgs e)
|
||
{
|
||
Console.WriteLine("有客户端断开");
|
||
}
|
||
|
||
private void Server_ClientConnected(object sender, EventArgs e)
|
||
{
|
||
Console.WriteLine("有客户端连接");
|
||
}
|
||
|
||
private void Server_CommandReceived(object sender, string command)
|
||
{
|
||
switch (command)
|
||
{
|
||
case "start":
|
||
buttonStart_Click(sender,null);
|
||
break;
|
||
case "softOnce":
|
||
buttonCapture_Click(sender, null);
|
||
break;
|
||
case "stop":
|
||
buttonStop_Click(sender, null);
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
}
|
||
}
|