Kyungshin-Welder/AuroraVision/CogPattern/Blob/CogBlob.cs

/*
  * Copyright (c) 2025 LG Electronics Inc.
   * SPDX-License-Identifier: LicenseRef-LGE-Proprietary
   */
using Aurora.Api;
using CogCommon;
using VisionCommon;
using Hermes;
using Cognex.VisionPro;
using Cognex.VisionPro.Blob;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Runtime.Serialization.Formatters.Binary;

namespace CogPattern {
    /// <summary>
    /// Blob 패턴 파라미터
    /// </summary>
    public class BlobRunParam : IRunParam, ICloneable {
        internal BlobParamExt BlobParamExt { get; set; } = new BlobParamExt();
        /// <summary>
        /// 타겟 컬러
        /// </summary>
        public eForegroundColor ForegroundColor { get; set; } = eForegroundColor.White;
        /// <summary>
        /// 패턴 찾기 영역
        /// </summary>
        public ROI FindROI { get; set; } = new ROI();

        /// <summary>
        /// 파라미터 복제
        /// </summary>
        /// <returns>BlobRunParam</returns>
        public object Clone() {
            return new BlobRunParam() {
                BlobParamExt = this.BlobParamExt.Clone() as BlobParamExt,
                ForegroundColor = this.ForegroundColor,
                FindROI = this.FindROI.Clone() as ROI,
            };
        }

        /// <summary>
        /// Blob 영역 픽셀 하한값 가져오기
        /// </summary>
        /// <returns>Blob 영역 픽셀 하한값</returns>
        public double GetAreaLow() => BlobParamExt.AreaLow;

        /// <summary>
        /// Blob 영역 픽셀 상한값 가져오기
        /// </summary>
        /// <returns>Blob 영역 픽셀 상한값</returns>
        public double GetAreaHigh() => BlobParamExt.AreaHigh;

        /// <summary>
        /// Blob 영역 상한값 및 하한값 타당성 체크
        /// </summary>
        /// <returns>Blob 영역 상한값 및 하한값 타당 여부</returns>
        public bool IsValidRunParam() {
            return BlobParamExt.AreaHigh > BlobParamExt.AreaLow;
        }
    }

    internal static class CogBlob {
        private static Logger _Logger = new Logger(typeof(CogBlob).Name);

        public static CogBlobTool CreateTool() {
            return new CogBlobTool();
        }

        public static CogBlobTool LoadTool(string filePath) {
            return (CogBlobTool)CogSerializer.LoadObjectFromFile(
                filePath,
                typeof(BinaryFormatter),
                CogSerializationOptionsConstants.Minimum);
        }

        public static int SaveTool(CogBlobTool cogBlobTool, string filePath) {
            if (cogBlobTool != null && filePath != null) {
                CogSerializer.SaveObjectToFile(
                    cogBlobTool,
                    filePath,
                    typeof(BinaryFormatter),
                    CogSerializationOptionsConstants.Minimum);

                return E1.OK;
            }

            return E1.GENERIC;
        }

        public static void FreeTool(CogBlobTool cogBlobTool) {
            if (cogBlobTool != null) {
                cogBlobTool.Dispose();
                cogBlobTool = null;
            }
        }

        public static ROI GetFindROI(CogBlobTool cogBlobTool) {
            if (cogBlobTool.Region == null) {
                return new ROI();
            }
            return CogEnvironment.ConvertToRoi(cogBlobTool.Region as CogRectangleAffine);
        }

        public static int SetFindROI(CogBlobTool cogBlobTool, ROI findRoi) {
            if (findRoi.Width > 0 && findRoi.Height > 0) {
                if (cogBlobTool != null) {
                    cogBlobTool.Region = CogEnvironment.ConvertToCogRectangleAffine(findRoi);
                }
            }
            return E1.OK;
        }

        public static int SetRunParam(CogBlobTool cogBlobTool, IRunParam runParam) {
            if (runParam is BlobRunParam) {
                var param = runParam as BlobRunParam;
                if (cogBlobTool != null) {
                    //cogBlobTool.InputImage = image;     // Find시 넣어주기로 함.
                    cogBlobTool.RunParams.SegmentationParams.Polarity = GetBlobPolarity(param.ForegroundColor);
                    cogBlobTool.Region = CogEnvironment.ConvertToCogRectangleAffine(param.FindROI);
                    cogBlobTool.RunParams.ConnectivityMinPixels = Convert.ToInt32(param.BlobParamExt.AreaLow);
                }
                return E1.OK;
            }

            return E1.GENERIC;
        }

        private static CogBlobSegmentationPolarityConstants GetBlobPolarity(eForegroundColor color) {
            if (color == eForegroundColor.White) {
                return CogBlobSegmentationPolarityConstants.LightBlobs;
            }
            else {
                return CogBlobSegmentationPolarityConstants.DarkBlobs;
            }
        }

        public static PatternResult Find(CogBlobTool cogBlobTool, ICogImage image, ROI findRoi, BlobParamExt paramExt) {
            if (CogEnvironment.IsColorImage(image)) {
                var grayImage = CogEnvironment.ConvertToGray(image);
                var patternResult = FindInternal(cogBlobTool, grayImage, findRoi, paramExt);
                CogEnvironment.FreeImage(grayImage);

                return patternResult;
            }
            return FindInternal(cogBlobTool, image, findRoi, paramExt);
        }

        private static PatternResult FindInternal(CogBlobTool cogBlobTool, ICogImage image, ROI findRoi, BlobParamExt paramExt) {
            var timeFind = new Stopwatch();
            timeFind.Start();

            PatternResult finderResult;
            cogBlobTool.InputImage = image;

            if (!ROI.IsNullOrEmpty(findRoi)) {
                cogBlobTool.Region = CogEnvironment.ConvertToCogRectangleAffine(findRoi);
            }

            cogBlobTool.Run();
            finderResult = ExtractResults(cogBlobTool, paramExt);

            timeFind.Stop();
            finderResult.TactTimeInMilliSec = timeFind.ElapsedMilliseconds;

            return finderResult;
        }

        private static PatternResult ExtractResults(CogBlobTool cogBlobTool, BlobParamExt paramExt) {
            List<BlobResult> results = new List<BlobResult>();
            CogBlobResultCollection cogBlobResults = cogBlobTool.Results.GetBlobs();

            foreach (CogBlobResult result in cogBlobResults) {
                if (result.Area > paramExt.AreaLow) {
                    if (result.Area < paramExt.AreaHigh) {
                        _Logger.FuncI($"Area : {result.Area}, AreaLow : {paramExt.AreaLow}, AreaHigh : {paramExt.AreaHigh} ");

                        var position = new ImagePoint(result.CenterOfMassX, result.CenterOfMassY);
                        results.Add(new BlobResult(
                            position,
                            new ImagePoint(),
                            result.Area));
                    }
                }
            }

            return new PatternResult() {
                Status = (results.Count > 0) ? eFoundStatus.FoundOK : eFoundStatus.NotFound,
                Results = results
            };
        }

        public static PatternResult GetNotFoundPatternResult() {
            return new PatternResult() {
                Status = eFoundStatus.NotFound,
                Results = new List<BlobResult>()
            };
        }

        public static void Draw(PatternResult patternResult, ICogCameraDisplay cogCameraDisplay) {
            if (patternResult.Status == eFoundStatus.FoundOK) {
                var results = patternResult.Results as List<BlobResult>;
                var color = GraphicColors.GetFindResultColor(patternResult.Status, isFixturePattern: false);
                var crosses = new List<Cross>();

                foreach (var result in results) {
                    var cross = new Cross(result.ImagePosition.Clone() as ImagePoint, 50);
                    crosses.Add(cross);

                    cogCameraDisplay.SetPatternTracking(cross);
                    cogCameraDisplay.AddCross(cross, color);

                    var msgs = new List<string>();
                    msgs.Add(string.Format("I({0:0.0}, {1:0.0})", result.ImagePosition.X, result.ImagePosition.Y));
                    msgs.Add(result.ConvertMaterialPosition());
                    msgs.Add(string.Format("Area : {0:0.00}", result.Area));
                    msgs.Add(string.Format("TactTime : {0} ms", Math.Round(patternResult.TactTimeInMilliSec)));
                    msgs.Add(string.Format("ID : {0}_{1}", patternResult.PatternIndex.PatternId, patternResult.PatternIndex.PatternSubId));

                    cogCameraDisplay.AddTextList(
                        color, new ImagePoint(result.ImagePosition.X, result.ImagePosition.Y), msgs);
                }
                cogCameraDisplay.DrawPatternTrackings(crosses);
            }
        }
    }
}