gocator导出图片

news2024/9/21 18:59:22

想用3D扫描后的图片，但是系统自带的导出方法很麻烦，所以考虑通过sdk导出

首先需要设置点云亮度

 

这里是导出图片的关键代码

 case GoDataMessageType.SurfaceIntensity:
     {
         Debug.WriteLine("SurfaceIntensity  ");
         GoSurfaceIntensityMsg surfaceMsg = (GoSurfaceIntensityMsg)dataObj;
         long width = surfaceMsg.Width;
         long length = surfaceMsg.Length;
         long bufferSize = width * length;
         IntPtr bufferPointeri = surfaceMsg.Data;

         //Console.WriteLine("Surface Intensity received:");
         //Console.WriteLine(" Buffer width: {0}", width);
         //Console.WriteLine(" Buffer length: {0}", length);
         byte[] ranges = new byte[bufferSize];

         Marshal.Copy(bufferPointeri, ranges, 0, ranges.Length);

 

         Mat mat1 = new Mat((int)length, (int)width, MatType.CV_8UC1, bufferPointeri);

         //Mat mat = Cv2.ImDecode(ranges, ImreadModes.Grayscale);

         long UID = YitIdHelper.NextId();
         string GlueImageDir = LogsUtil.GetLogDir(LogsUtil.GlueImage);
         ImageFile = await FileHelper.SaveVisionImage1(mat1, GlueImageDir, $"Glue3Dimage_{gm.TireBarcode}_{UID}.png");

 
     }
     break;

using Camera3D.Models.Glue;
using Camera3D.Utils;
using FluentFTP;
using Google.Protobuf.WellKnownTypes;
using JHCamera3D.Helper.Python;
using JHCamera3D.Utils;

//using Intel.RealSense;
using LinkAsiaSmart.MyTask;
using Lmi3d.GoSdk;
using Lmi3d.GoSdk.Messages;
using OpenCvSharp;
using System.Collections;
using System.Drawing.Imaging;
using System.Threading;
using System.Windows.Forms;
using Yitter.IdGenerator;
using static Camera3D.Enum.LMI.ReceiveProfile;
using static Emgu.CV.WeChatQRCode;
using static Slapper.AutoMapper;

namespace Camera3D.Helper.TCP
{
    /// <summary>
    /// 
    /// </summary>
    public class Camera3DGlue
    {
        public delegate void OnDataType(KObject data);

        public static Camera3DGlue? Instance;

        public static bool isSaveDataToMySql = true;
        public static bool isGoLoad = false;
        public static bool isStart = false;
        public static bool isCanStatus = false;
        private static double TireInsideLength = 0;
        private static double EncoderResolution = 0;

        GoDataSet dataSet;
        static GoSystem system;
        static GoSensor sensor;
        static GoSurfaceGeneration surfacelength;

        public static Camera3DGlue GetInstance()
        {
            if (Instance == null)
            {
                Instance = new Camera3DGlue();
            }
            return Instance;
        }

        public bool GoLoad()//加载Gocator
        {
            string ip = SystemParams.Camera3D.LMI3DGlueCameraIP;                         // "192.168.1.10";
            uint SensorID = uint.Parse(SystemParams.Camera3D.LMI3DGlueCameraSensorID);   // "192.168.1.10";
            KApiLib.Construct();
            GoSdkLib.Construct();

            system = new GoSystem();
            dataSet = new GoDataSet();
            try
            {
                sensor = system.FindSensorById(SensorID);//指定传感器的ID连接 
                if (sensor.State == GoState.Running)
                {
                    sensor.Stop();
                    sensor.Disconnect();
                };
                sensor.Connect();

                //double encoder = sensor.Transform.EncoderResolution;
                EncoderResolution = sensor.Transform.EncoderResolution;
                TireInsideLength = sensor.Setup.GetSurfaceGeneration().FixedLengthLength;

                system.EnableData(true);//数据通道使能
                system.SetDataHandler(onData);//异步接受数据

                isGoLoad = true;
            }
            catch (Exception ex)
            {
                return false;
            }

            return true;
        }

        public static void Start()
        {
            try
            {
                if (sensor == null)
                {
                    return;
                }

                sensor.Stop();

                surfacelength = sensor.Setup.GetSurfaceGeneration();    

                sensor.Start();

                isStart = true;

                isCanStatus = true;
            }
            catch (Exception ex)
            {
                Log.Logger.Error($" 异常 {ex.Message}");
            }
        }

        public static void Stop()
        {
            try
            {
                sensor.Stop();

                isCanStatus = false;
            }
            catch (Exception ex)
            {
                Log.Logger.Error($"Sensor Stop 异常 {ex.Message}");
            }
        }
        public static GoState GetStatus()
        {
            GoState state = GoState.Offline;// new GoState();
                                            //  state = GoState.Offline;
            if (isCanStatus)
            {
                try
                {
                    state = sensor.State.Value;
                }
                catch (Exception ex)
                {
                    Log.Logger.Error($"  异常 {ex.Message}");
                }
            }
   
            return state;
        }


        public static async void onData(KObject data)
        {
            int mb = 1024 * 1024;
            Process currentProcess = Process.GetCurrentProcess();
            long workingSet = currentProcess.WorkingSet64;
            Log.Logger.Debug($" 占用内存{workingSet / mb}MB");

            Random rdm = new Random(Guid.NewGuid().GetHashCode());

            GlueModel gm = new GlueModel();
            gm.DateTime = DateUtil.CurrentDate.ToString();
            gm.TireBarcode = PLCTag.GetTagValue(TagNameDesc.GlueTireBarcode, TagValueType.String);  // Work.PLC.Glue.GetGlueTireBarcode();

            string PLYName = $"Glue_{gm.TireBarcode}_{YitIdHelper.NextId()}";
            string ImageFile = "";
            GlueCompensationModel gcm = new GlueCompensationModel();

            float GlueTireInnerCircumference = float.Parse(PLCTag.GetTagValue(TagNameDesc.GlueTireInnerCircumference, TagValueType.Float));   // Work.PLC.TagValue.GetGlueTireInnerCircumference();
 

            Log.Logger.Debug($"接受到 3D  数据  ");
            try
            {
                DataContext context = new DataContext(); 
                GoDataSet dataSet = (GoDataSet)data;

                for (UInt32 i = 0; i < dataSet.Count; i++)
                {
                    GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i);

                    // Debug.WriteLine($"GoDataMsg.MessageType:{dataObj.MessageType}");
                    Log.Logger.Debug($" GoDataMsg.MessageType : {dataObj.MessageType}  ");
                    switch (dataObj.MessageType)
                    {
                        case GoDataMessageType.Stamp:
                            {
                                GoStampMsg stampMsg = (GoStampMsg)dataObj;
                                for (UInt32 j = 0; j < stampMsg.Count; j++)
                                {
                                    GoStamp stamp = stampMsg.Get(j);
                                    //Debug.WriteLine("Frame Index = {0}", stamp.FrameIndex);
                                    //Debug.WriteLine("Time Stamp = {0}", stamp.Timestamp);
                                    //Debug.WriteLine("Encoder Value = {0}", stamp.Encoder);
                                    // Debug.WriteLine($"{i} -{j}  Index = {stamp.FrameIndex} time =  {stamp.Timestamp} value = {stamp.Encoder}");
                                    //Debug.WriteLine($"  {stampMsg.Count}  ");
                                    // LsData.Add(stamp.Encoder.ToString());
                                }
                                //
                            }
                            break;

                        case GoDataMessageType.UniformSurface:
                            {
                                try
                                {
                                    GoUniformSurfaceMsg surfaceMsg = (GoUniformSurfaceMsg)dataObj;
                                    long width = surfaceMsg.Width; //被测物体宽度
                                    long length = surfaceMsg.Length; //3D相机走过的长度
                                    long bufferSize = (width * length);
                                    IntPtr bufferPointer = surfaceMsg.Data;

                                    //获取缓存的宽高
                                    long surfaceBufferWidth = surfaceMsg.Width;
                                    long surfaceBufferLength = surfaceMsg.Length;
                                    float[] x = new float[surfaceBufferLength * surfaceBufferWidth];
                                    float[] y = new float[surfaceBufferLength * surfaceBufferWidth];
                                    float[] z = new float[surfaceBufferLength * surfaceBufferWidth];
                                    // byte[] intensity = new byte[surfaceBufferLength * surfaceBufferWidth];

                                    SurfacePoint[] surfaceBuffer = new SurfacePoint[surfaceBufferLength * surfaceBufferWidth];
                                    List<SurfacePoint> ListSurface = new List<SurfacePoint>();

                                    short[] ranges = new short[bufferSize];
                                    Marshal.Copy(bufferPointer, ranges, 0, ranges.Length);

                                    // Marshal.Copy(bufferPointer, intensity, 0, ranges.Length);

                                    //string rangesStr = string.Join(",", ranges);
                                    Log.Logger.Debug($"Surface Width = {width} length = {length} bufferSize = {bufferSize} ");

                                    double xResolution = (double)surfaceMsg.XResolution / 1000000;
                                    double yResolution = (double)surfaceMsg.YResolution / 1000000;
                                    double zResolution = (double)surfaceMsg.ZResolution / 1000000;

                                   // YDotPitch = yResolution;

                                    context.xResolution = (float)surfaceMsg.XResolution / 1000000;
                                    context.yResolution = (float)surfaceMsg.YResolution / 1000000;
                                    context.zResolution = (float)surfaceMsg.ZResolution / 1000000;
                                    context.xOffset = (float)surfaceMsg.XOffset / 1000;
                                    context.yOffset = (float)surfaceMsg.YOffset / 1000;
                                    context.zOffset = (float)surfaceMsg.ZOffset / 1000;
                                    long surfacePointCount = surfaceMsg.Width * surfaceMsg.Length;

                                    for (int j = 0; j < length; j++)
                                    {
                                        for (int k = 0; k < width; k++)
                                        {
                                            y[width * j + k] = (float)(k * context.xResolution + context.xOffset);
                                            x[width * j + k] = (float)(j * context.yResolution + context.yOffset);
                                            short tmp = ranges[width * j + k];
                                            z[width * j + k] = tmp == -32768 ? -32768 : (float)(tmp * context.zResolution + context.zOffset);

                                            //  intensity[width * j + k]= context.
                                            //if (tmp == -32768)
                                            //{
                                            //    z[width * j + k] = -32768;
                                            //}
                                            //else
                                            //{
                                            //    z[width * j + k] = (float)(tmp * context.zResolution + context.zOffset);
                                            //}

                                            surfaceBuffer[width * j + k].x = x[width * j + k];
                                            surfaceBuffer[width * j + k].y = y[width * j + k];
                                            surfaceBuffer[width * j + k].z = z[width * j + k];
                                        }
                                    }

                                    //Mat mat = Cv2.ImDecode(intensity, ImreadModes.Color);

                                    //long UID = YitIdHelper.NextId();
                                    //FileHelper.SaveVisionImage1(mat, $"Glue3Dimage_{UID}.png");

                                    Log.Logger.Debug($"接收到相机点云数量 = {surfacePointCount} ");
                                    ListSurface = surfaceBuffer.Where(a => a.z >= -10000).ToList();
                                    //PointCloudUtil.SavePointCloudToPLY(No, x, y, z);
                                    string PLYFile = await PointCloudUtil.SavePointCloudToPLY(PLYName, ListSurface.ToArray(), LogsUtil.GluePLY);
                                    //PointCloudUtil.SavePointCloudToPLY(No, x, y, z);
                                    DateTime startTime = DateTime.Now;
                                    while (!File.Exists(PLYFile))
                                    {
                                        if (DateTime.Now - startTime > TimeSpan.FromSeconds(10))
                                        {
                                            break;
                                        }
                                        await Task.Delay(200);
                                    }
                                    if (File.Exists(PLYFile))
                                    {
                                        ProcessPLYGlueStrip(PLYFile, gcm);
                                    }
                                    else
                                    {
                                        Log.Logger.Error($" 未找到ply文件 {PLYFile}");
                                    }

                                    x = null;
                                    y = null;
                                    z = null;
                                    ranges = null;
                                    surfaceBuffer = null;
                                    ListSurface.Clear();
                                    ListSurface = null;
                                    bufferPointer = IntPtr.Zero;
                                }
                                catch (Exception e)
                                {
                                    Log.Logger.Error($" GoDataMessageType.Surface 数据处理异常 = {e.Message} {e.StackTrace} ");
                                }
                            }
                            break;


                        case GoDataMessageType.SurfacePointCloud:
                            {
                                GoSurfacePointCloudMsg surfaceMsg = (GoSurfacePointCloudMsg)dataObj;
                                context.xResolution = (double)surfaceMsg.XResolution / 1000000;
                                context.yResolution = (double)surfaceMsg.YResolution / 1000000;
                                context.zResolution = (double)surfaceMsg.ZResolution / 1000000;
                                context.xOffset = (double)surfaceMsg.XOffset / 1000;
                                context.yOffset = (double)surfaceMsg.YOffset / 1000;
                                context.zOffset = (double)surfaceMsg.ZOffset / 1000;
                                long surfacePointCount = surfaceMsg.Width * surfaceMsg.Length;
                                Console.WriteLine("Surface Point Cloud received:");
                                Console.WriteLine(" Buffer width: {0}", surfaceMsg.Width);
                                Console.WriteLine(" Buffer length: {0}", surfaceMsg.Length);
                                GoPoints[] points = new GoPoints[surfacePointCount];
                                SurfacePoint[] surfaceBuffer = new SurfacePoint[surfacePointCount];
                                int structSize = Marshal.SizeOf(typeof(GoPoints));
                                IntPtr pointsPtr = surfaceMsg.Data;
                                for (UInt32 array = 0; array < surfacePointCount; ++array)
                                {
                                    IntPtr incPtr = new IntPtr(pointsPtr.ToInt64() + array * structSize);
                                    points[array] = (GoPoints)Marshal.PtrToStructure(incPtr, typeof(GoPoints));
                                }
                                for (UInt32 arrayIndex = 0; arrayIndex < surfacePointCount; ++arrayIndex)
                                {
                                    if (points[arrayIndex].x != -32768)
                                    {
                                        surfaceBuffer[arrayIndex].x = context.xOffset + context.xResolution * points[arrayIndex].x;
                                        surfaceBuffer[arrayIndex].y = context.yOffset + context.yResolution * points[arrayIndex].y;
                                        surfaceBuffer[arrayIndex].z = context.zOffset + context.zResolution * points[arrayIndex].z;
                                    }
                                    else
                                    {
                                        surfaceBuffer[arrayIndex].x = -32768;
                                        surfaceBuffer[arrayIndex].y = -32768;
                                        surfaceBuffer[arrayIndex].z = -32768;
                                    }
                                }
                            }
                            break;

                        case GoDataMessageType.SurfaceIntensity:
                            {
                                Debug.WriteLine("SurfaceIntensity  ");
                                GoSurfaceIntensityMsg surfaceMsg = (GoSurfaceIntensityMsg)dataObj;
                                long width = surfaceMsg.Width;
                                long length = surfaceMsg.Length;
                                long bufferSize = width * length;
                                IntPtr bufferPointeri = surfaceMsg.Data;

                                //Console.WriteLine("Surface Intensity received:");
                                //Console.WriteLine(" Buffer width: {0}", width);
                                //Console.WriteLine(" Buffer length: {0}", length);
                                byte[] ranges = new byte[bufferSize];

                                Marshal.Copy(bufferPointeri, ranges, 0, ranges.Length);

   

                                Mat mat1 = new Mat((int)length, (int)width, MatType.CV_8UC1, bufferPointeri);

                                //Mat mat = Cv2.ImDecode(ranges, ImreadModes.Grayscale);

                                long UID = YitIdHelper.NextId();
                                string GlueImageDir = LogsUtil.GetLogDir(LogsUtil.GlueImage);
                                ImageFile = await FileHelper.SaveVisionImage1(mat1, GlueImageDir, $"Glue3Dimage_{gm.TireBarcode}_{UID}.png");
 
                            }
                            break;
                    }
                } 

                Log.Logger.Debug($"完成3D相机的数据"); 
 
                Download3DImage(ImageFile);
            }
            catch (Exception ex)
            {
                Log.Logger.Error($"Camera3D  Error {ex.Message}");
            }

            GlobalConst.Common.SharedLock = false;

            workingSet = currentProcess.WorkingSet64;
            Log.Logger.Debug($"接收3D相机数据后 占用内存{workingSet / mb}MB");
        }

        public float GetLength()
        {
            return (float)TireInsideLength;
        }

        public string SetLength(double length)
        {
            string result = "";
            try
            {
                Stop();
                surfacelength = sensor.Setup.GetSurfaceGeneration();
                //surfacelength.FixedLengthTriggerExternalInputIndex = length;
                surfacelength.FixedLengthLength = length;

                Log.Logger.Debug($"设置 3D相机触发轮胎内周长 PLC = [{length}] OK");
                Start();
                result = "OK";
                TireInsideLength = length;
            }
            catch (Exception ex)
            {
                result = "ERROR";
                Log.Logger.Error($"设置 3D相机触发长度异常 {ex.Message}");
            }
            return result;
        }

        public string SetEncoderResolution(double value)
        {
            string result = "";
            if (value <= 0)
            {
                return result;
            }
            try
            {
                Stop();
                // sensor.Setup.EncoderSpacing = value;
                sensor.Transform.EncoderResolution = value;
                Log.Logger.Debug($"设置 3D相机分辨率OK {value}");
                Start();
                result = "OK";
            }
            catch (Exception ex)
            {
                result = "ERROR";
                Log.Logger.Error($"设置 3D相机分辨率异常 value={value} msg={ex.Message}");
            }
            return result;
        }

        public string GetEncoder()
        {
            string result = "";
            try
            {
                if (isCanStatus)
                {
                    if (sensor.State.Value == GoState.Running)
                    {
                        result = sensor.Encoder().ToString();
                    }
                }
            }
            catch (Exception ex)
            {
                Log.Logger.Error($"读取 3D相机编码器数值异常 value = {result} {sensor.State} msg = {ex.Message}");
            }
            return result;
        } 

        public static string Download3DImage(string ImageFile)
        {
            string result = "";
            Task.Run(async () =>
            { 
                try
                {
 

                    EncoderResolution = sensor.Transform.EncoderResolution;
                    TireInsideLength = sensor.Setup.GetSurfaceGeneration().FixedLengthLength;
 
                    result = "OK";


                    string JPGImageFile = await ConvertToJPG(ImageFile);

                    SignalRClient.GetInstance().SendMsg(GlobalConst.SignalRUser.Glue.Camera3DGlueImage, JPGImageFile); 
                }
                catch (Exception ex)
                {
                    Log.Logger.Error($" 3D相机 图片出现异常 {ex.Message}");
                    result = "Error";
                }
            });
            return result;
        }

        public static async Task<string> ConvertToJPG(string ImageFile)
        {
            DateTime startTime = DateTime.Now;
            while (!File.Exists(ImageFile))
            {
                if (DateTime.Now - startTime > TimeSpan.FromSeconds(10))
                {
                    break;
                }
                await Task.Delay(200);
            }
            Log.Logger.Debug($"PNG转JPG文件 [{ImageFile}]");
            string extension = Path.GetExtension(ImageFile);
            Log.Logger.Debug($"PNG转JPG文件 [{extension}]");
            string JpgImageFile = ImageFile.Replace(extension, ".jpg");
            //string result = "";
            //int x = 0;
            await Task.Run(async () =>
            {
                try
                {
                    using (Image image = Image.FromFile(ImageFile))
                    {
                        image.Save(JpgImageFile, ImageFormat.Jpeg);
                    }
                }
                catch (Exception ex)
                {
                    Log.Logger.Error($"PNG转JPG异常 {ex.Message}");
                    // result = "Error";
                }
            });
            return JpgImageFile;
        }

 

        public static async Task<string> ProcessPLYGlueStrip(string PLYFile, GlueCompensationModel gcm)
        {
            string result = "";
            string No = "Glue" + DateUtil.CurrentDateID;
            string ScriptFile = AppSettingsHelper.Configuration["PythonScript:GlueScriptFile"];
            Log.Logger.Debug($" Open3D 测量  脚本 {ScriptFile}");
            string PlyResultDir = LogsUtil.GetLogDir(LogsUtil.GlueResultPLY);
            string str = RunPythonHelper.ExecPythonTireGlue(ScriptFile, PLYFile, PlyResultDir);
            Log.Logger.Debug($" Open3D 计算结果 {str}");

            string[] JsonStrResult = str.Split("~~");
            try
            {
                if (JsonStrResult[2].Trim().Length > 1)
                {
                    Log.Logger.Error($" errMsg = {JsonStrResult[2]}");
        
                }
                else
                {
                    GluePlyResultModel gprm = JsonConvert.DeserializeObject<GluePlyResultModel>(JsonStrResult[1]);
                    gprm.Barcode = PLCTag.GetTagValue(TagNameDesc.GlueTireBarcode, TagValueType.String); 
                    gprm.DateTime = DateUtil.CurrentDate.ToString();

                    gprm = GetCompensationResult(gprm, gcm);
                    string jsonStr = JsonConvert.SerializeObject(gprm);

                    SignalRClient.GetInstance().SendMsg(GlobalConst.SignalRUser.Glue.Glue3DResult, jsonStr);
           

   
                }
            }
            catch (Exception ex)
            {
                Log.Logger.Error($"处理 Open3D 计算结果异常 {ex.Message}");
              
            } 

            return result;
        }
 


    }
}

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