LGES-OC5-PtoP-Welder/AuroraVision/MilPattern/Blob/MilBlob.cs

using Aurora.Api;
using MilCommon;
using VisionCommon;
using Hermes;
using Matrox.MatroxImagingLibrary;
using System;
using System.Collections.Generic;
using Aurora.Api.DataType;

namespace MilPattern {
    public class BlobRunParam : IRunParam, ICloneable {
        public BlobParamExt BlobParamExt { get; set; } = new BlobParamExt();

        public bool IsValidFindRoi(ImageSize imageSize) {
            return (0 < BlobParamExt.FindROI.Width && BlobParamExt.FindROI.Width < imageSize.Width) &&
                (0 < BlobParamExt.FindROI.Height && BlobParamExt.FindROI.Height < imageSize.Height);
        }

        public ROI GetFindRoi() {
            return BlobParamExt.FindROI.Clone() as ROI;
        }

        public void SetFindROI(ROI findRoi) {
            BlobParamExt.FindROI = findRoi;
        }

        public object Clone() {
            return new BlobRunParam() {
                BlobParamExt = BlobParamExt.Clone() as BlobParamExt
            };
        }
    }

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

        public static MIL_ID CreateContext(MIL_ID milSystem) {
            MIL_ID contextId = MIL.M_NULL;
            MIL.MblobAlloc(milSystem, MIL.M_DEFAULT, MIL.M_DEFAULT, ref contextId);

            return contextId;
        }

        public static MIL_ID LoadContext(MIL_ID milSystem, string filePath) {
            MIL_ID contextId = MIL.M_NULL;
            MIL.MblobRestore(filePath, milSystem, MIL.M_DEFAULT, ref contextId);

            return contextId;
        }

        public static int SaveContext(MIL_ID contextId, string filePath) {
            if (contextId != MIL.M_NULL && filePath != null) {
                MIL.MblobSave(filePath, contextId, MIL.M_DEFAULT);
                return E1.OK;
            }

            return E1.GENERIC;
        }

        public static void FreeContext(MIL_ID contextId) {
            if (contextId != MIL.M_NULL) {
                MIL.MblobFree(contextId);
            }
        }

        public static MIL_ID CreateResultContext(MIL_ID contextId) {
            var milSystem = GetSystemOfContext(contextId);

            return MIL.MblobAllocResult(milSystem, MIL.M_DEFAULT, MIL.M_DEFAULT, MIL.M_NULL);
        }

        private static MIL_ID GetSystemOfContext(MIL_ID contextId) {
            return (MIL_ID)MIL.MblobInquire(contextId, MIL.M_OWNER_SYSTEM, MIL.M_NULL);
        }

        public static int SetRunParam(MIL_ID contextId, IRunParam runParam) {
            MIL.MblobControl(contextId, MIL.M_BOX, MIL.M_ENABLE);
            MIL.MblobControl(contextId, MIL.M_MIN_AREA_BOX, MIL.M_ENABLE);
            MIL.MblobControl(contextId, MIL.M_CHAINS, MIL.M_ENABLE);
            MIL.MblobControl(contextId, MIL.M_CENTER_OF_GRAVITY + MIL.M_BINARY, MIL.M_ENABLE);
            MIL.MblobControl(contextId, MIL.M_IDENTIFIER_TYPE, MIL.M_BINARY);
            MIL.MblobControl(contextId, MIL.M_FOREGROUND_VALUE, MIL.M_NONZERO);

            return E1.OK;
        }

        public static PatternResult Find(MIL_ID contextId, MIL_ID resultContextId, MIL_ID image, ROI findRoi, BlobParamExt paramExt) {
            if (MilEnvironment.IsColorImage(image)) {
                var grayImageId = MilEnvironment.ConvertToGray(image);
                var patternResult = FindInternal(contextId, resultContextId, grayImageId, findRoi, paramExt);
                MilEnvironment.FreeImage(grayImageId);

                return patternResult;
            }
            return FindInternal(contextId, resultContextId, image, findRoi, paramExt);
        }

        private static PatternResult FindInternal(MIL_ID contextId, MIL_ID resultContextId, MIL_ID image, ROI findRoi, BlobParamExt paramExt) {
            PatternResult finderResult;
            MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_RESET + MIL.M_SYNCHRONOUS, MIL.M_NULL);

            if (ROI.IsNullOrEmpty(findRoi)) {
                MIL.MblobCalculate(contextId, image, MIL.M_NULL, resultContextId);
                finderResult = ExtractResults(resultContextId, MilEnvironment.GetImageCenter(image), findRoi, paramExt);
            }
            else {
                var fittedFindRoi = FindWithCropImage(contextId, resultContextId, image, findRoi);
                finderResult = ExtractResults(resultContextId, MilEnvironment.GetImageCenter(image), fittedFindRoi, paramExt);
            }

            double tactTime = 0;
            MIL.MappTimer(MIL.M_DEFAULT, MIL.M_TIMER_READ + MIL.M_SYNCHRONOUS, ref tactTime);
            finderResult.TactTimeInMilliSec = MathUtil.ConvertUnitSecToMilli(tactTime);

            return finderResult;
        }

        private static ROI FindWithCropImage(MIL_ID contextId, MIL_ID resultContextId, MIL_ID image, ROI findRoi) {
            MIL_ID cropImage = MIL.M_NULL;
            ROI fittedFindRoi = findRoi.Clone() as ROI;

            try {
                var imageSzie = MilEnvironment.GetImageSize(image);
                if (ROI.IsOutsideImage(findRoi, imageSzie)) {
                    fittedFindRoi = ROI.FitRoiToImage(findRoi, imageSzie);
                }

                cropImage = MilEnvironment.CropImage(image, fittedFindRoi);
                MIL.MblobCalculate(contextId, cropImage, MIL.M_NULL, resultContextId);
            }
            catch (Exception e) {
                _Logger.E(e.Message);
            }
            finally {
                MilEnvironment.FreeImage(cropImage);
            }

            return fittedFindRoi;
        }

        private static PatternResult ExtractResults(MIL_ID contextResult, ImagePoint imageCenter, ROI findRoi, BlobParamExt paramExt) {
            List<BlobResult> results = new List<BlobResult>();
            MIL_INT numOfResult = 0;

            MIL.MblobSelect(contextResult, MIL.M_EXCLUDE_ONLY, MIL.M_AREA, MIL.M_OUT_RANGE, paramExt.AreaLow, paramExt.AreaHigh);
            MIL.MblobGetResult(contextResult, MIL.M_GENERAL, MIL.M_NUMBER + MIL.M_TYPE_MIL_INT, ref numOfResult);

            for (int resultIndex = 0; resultIndex < numOfResult; resultIndex++) {
                double area = 0;
                double gravityX = 0;
                double gravityY = 0;
                MIL.MblobGetResult(contextResult, MIL.M_BLOB_INDEX(resultIndex), MIL.M_AREA + MIL.M_TYPE_DOUBLE, ref area);
                MIL.MblobGetResult(contextResult, MIL.M_BLOB_INDEX(resultIndex), MIL.M_CENTER_OF_GRAVITY_X + MIL.M_BINARY + MIL.M_TYPE_DOUBLE, ref gravityX);
                MIL.MblobGetResult(contextResult, MIL.M_BLOB_INDEX(resultIndex), MIL.M_CENTER_OF_GRAVITY_Y + MIL.M_BINARY + MIL.M_TYPE_DOUBLE, ref gravityY);

                var position = new ImagePoint(gravityX + findRoi.Left, gravityY + findRoi.Top);
                results.Add(new BlobResult(
                    position,
                    (position - imageCenter) as ImagePoint,
                    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, IMilCameraDisplay milCameraDisplay) {
            MIL_ID staticGraphicList = 0;
            MIL.MdispInquire(milCameraDisplay.GetMilDisplayId(), MIL.M_ASSOCIATED_GRAPHIC_LIST_ID, ref staticGraphicList);

            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);

                    milCameraDisplay.SetPatternTracking(cross);
                    milCameraDisplay.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));

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