LGES-2170-ACW_CCW-Welder/AuroraVision/CogPattern/ImageModelFinder/MmfImage.cs

/*
  * Copyright (c) 2025 LG Electronics Inc.
   * SPDX-License-Identifier: LicenseRef-LGE-Proprietary
   */
using CogCommon;
using VisionCommon;
using Hermes;
using Cognex.VisionPro;
using Cognex.VisionPro.PMAlign;
using System;
using Aurora.Api;

namespace CogPattern {
    public class ImageModelFinderTrainParam : ImageTrainParam, ICloneable {
        public ICogImage TrainMask { get; set; }

        public object Clone() {
            return new ImageModelFinderTrainParam() {
                TrainMask = TrainMask.CopyBase(CogImageCopyModeConstants.CopyPixels),
                TrainImage = ((ICogImage)TrainImage).CopyBase(CogImageCopyModeConstants.CopyPixels),
                TrainRoi = TrainRoi.Clone() as ROI,
                TrainOrigin = TrainOrigin.Clone() as Cross,
                TrainOriginInModel = TrainOriginInModel.Clone() as Cross
            };
        }
    }

    public static class MmfImage {
        private static Logger _Logger = new Logger(typeof(MmfImage).Name);

        public static ITrainParam GetTrainParam(CogPMAlignTool cogPMAlignTool) {
            var trainParam = new ImageModelFinderTrainParam();
            if (MmfCommon.IsTrained(cogPMAlignTool)) {
                trainParam.TrainImage = cogPMAlignTool.Pattern.TrainImage;
                trainParam.TrainMask = cogPMAlignTool.Pattern.TrainImageMask;
                trainParam.TrainRoi = GetTrainROI(cogPMAlignTool);
                trainParam.TrainOrigin = GetFixtureOrigin(cogPMAlignTool);
                trainParam.TrainOriginInModel = GetTrainOriginInModel(cogPMAlignTool);
            }

            return trainParam;
        }

        public static ROI GetTrainROI(CogPMAlignTool cogPMAlignTool) {
            if (MmfCommon.IsTrained(cogPMAlignTool)) {
                var trainRoi = cogPMAlignTool.Pattern.TrainRegion as CogRectangleAffine;
                var angle = new Angle() {
                    // trainRoi의 Rotation이 항상 0으로 저장되기 때문에, trainOrigin의 Rotation으로 Set해준다.
                    Degree = CogMisc.RadToDeg(cogPMAlignTool.Pattern.Origin.Rotation)
                    //Degree = CogMisc.RadToDeg(trainRoi.Rotation)
                };

                return new ROI(
                    trainRoi.CenterX,
                    trainRoi.CenterY,
                    (int)trainRoi.SideXLength, (int)trainRoi.SideYLength, angle);
            }

            return new ROI();
        }

        public static Cross GetFixtureOrigin(CogPMAlignTool cogPMAlignTool) {
            if (MmfCommon.IsTrained(cogPMAlignTool)) {
                double originalX = cogPMAlignTool.Pattern.Origin.TranslationX;
                double originalY = cogPMAlignTool.Pattern.Origin.TranslationY;
                Angle angle = Angle.CreateWithRadian(cogPMAlignTool.Pattern.Origin.Rotation);

                return new Cross(new ImagePoint(originalX, originalY), angle);
            }

            return new Cross(new ImagePoint());
        }

        public static Cross GetTrainOriginInModel(CogPMAlignTool cogPMAlignTool) {
            if (MmfCommon.IsTrained(cogPMAlignTool)) {
                var trainRoi = cogPMAlignTool.Pattern.TrainRegion as CogRectangleAffine;
                double trainOriginInModelX = cogPMAlignTool.Pattern.Origin.TranslationX - trainRoi.CornerOriginX;
                double trainOriginInModelY = cogPMAlignTool.Pattern.Origin.TranslationY - trainRoi.CornerOriginY;
                Angle angle = Angle.CreateWithRadian(cogPMAlignTool.Pattern.Origin.Rotation);

                return new Cross(new ImagePoint(trainOriginInModelX, trainOriginInModelY), angle);
            }

            return new Cross(new ImagePoint());
        }

        public static int Train(CogPMAlignTool cogPMAlignTool, ITrainParam trainParam) {
            if (trainParam is ImageModelFinderTrainParam) {
                var param = trainParam as ImageModelFinderTrainParam;
                return DefineModel(cogPMAlignTool, param);
            }

            return E1.GENERIC;
        }

        private static int DefineModel(CogPMAlignTool cogPMAlignTool, ImageModelFinderTrainParam param) {
            if ((ICogImage)param.TrainImage == null) {
                return E1.ARGUMENT;
            }

            if (SetPatternTrainParameter(cogPMAlignTool, param) == E1.OK) {
                cogPMAlignTool.InputImage = param.TrainImage as ICogImage;
                cogPMAlignTool.Pattern.Train();
                return E1.OK;
            }
            else {
                _Logger.FuncE("SetPatternTrainParameter Failed!!");
                return E1.GENERIC;
            }
        }

        public static int SetPatternTrainParameter(CogPMAlignTool cogPMAlignTool, ImageModelFinderTrainParam trainParam) {
            try {
                cogPMAlignTool.Pattern.Origin.TranslationX = trainParam.TrainOrigin.Origin.X;
                cogPMAlignTool.Pattern.Origin.TranslationY = trainParam.TrainOrigin.Origin.Y;
                cogPMAlignTool.Pattern.Origin.Rotation = trainParam.TrainRoi.Angle.Radian;
                cogPMAlignTool.Pattern.TrainImage = (CogImage8Grey)trainParam.TrainImage;
                cogPMAlignTool.Pattern.TrainImageMask = (CogImage8Grey)trainParam.TrainMask;
                cogPMAlignTool.Pattern.TrainMode = CogPMAlignTrainModeConstants.Image;
                // 트레인시 마스크 이미지가 돌아가지 않도록 TrainRoi를 항상 0도로 Set해준다.
                var roi = trainParam.TrainRoi.Clone() as ROI;
                roi.Angle = Angle.CreateWithDegree(0);
                cogPMAlignTool.Pattern.TrainRegion = CogEnvironment.ConvertToCogRectangleAffine(roi);
                //cogPMAlignTool.Pattern.TrainRegion = CogEnvironment.ConvertToCogRectangleAffine(trainParam.TrainRoi);
                cogPMAlignTool.Pattern.TrainRegionMode = CogRegionModeConstants.PixelAlignedBoundingBoxAdjustMask;

                return E1.OK;
            }
            catch (Exception e) {
                _Logger.FuncE("{0}", e.Message);
            }

            return E1.GENERIC;
        }

        public static ICogImage GetModelImage(CogPMAlignTool cogPMAlignTool) {
            if (MmfCommon.IsTrained(cogPMAlignTool)) {
                var modelImage = CogEnvironment.CropImage(
                    cogPMAlignTool.Pattern.TrainImage,
                    CogEnvironment.ConvertToRoi(cogPMAlignTool.Pattern.TrainRegion as CogRectangleAffine));

                return modelImage;
            }

            return null;
        }

        public static ICogImage GetMaskImage(CogPMAlignTool cogPMAlignTool) {
            if (cogPMAlignTool.Pattern.TrainImageMask == null) {
                if (MmfCommon.IsTrained(cogPMAlignTool)) {
                    var trainRoi = GetTrainROI(cogPMAlignTool);
                    var maskImage = new CogImage8Grey(
                        (int)trainRoi.Width,
                        (int)trainRoi.Height);
                    CogEnvironment.ClearImage(maskImage, 255);
                    return maskImage;
                }
            }
            return cogPMAlignTool.Pattern.TrainImageMask;
        }

        public static int SetMaskImage(CogPMAlignTool cogPMAlignTool, ICogImage maskImage) {
            if (maskImage != null) {
                var trainRoi = cogPMAlignTool.Pattern.TrainRegion as CogRectangleAffine;
                cogPMAlignTool.Pattern.TrainImageMask = maskImage as CogImage8Grey;
                cogPMAlignTool.Pattern.TrainImageMaskOffsetX = (int)trainRoi.CornerOriginX;
                cogPMAlignTool.Pattern.TrainImageMaskOffsetY = (int)trainRoi.CornerOriginY;

                return E1.OK;
            }

            return E1.GENERIC;
        }

        public static int SetTrainOrigin(CogPMAlignTool cogPMAlignTool, Cross trainOrigin) {
            cogPMAlignTool.Pattern.Origin.TranslationX = trainOrigin.Origin.X;
            cogPMAlignTool.Pattern.Origin.TranslationY = trainOrigin.Origin.Y;
            cogPMAlignTool.Pattern.Train();

            return E1.OK;
        }

        public static int SetTrainOriginInModel(CogPMAlignTool cogPMAlignTool, Cross trainOriginInModel) {
            var trainRoi = cogPMAlignTool.Pattern.TrainRegion as CogRectangleAffine;
            cogPMAlignTool.Pattern.Origin.TranslationX = trainRoi.CornerOriginX + trainOriginInModel.Origin.X;
            cogPMAlignTool.Pattern.Origin.TranslationY = trainRoi.CornerOriginY + trainOriginInModel.Origin.Y;
            cogPMAlignTool.Pattern.Train();

            return E1.OK;
        }
    }
}