private void PictureBox_PREVIEWWND_MouseWheel(object sender, MouseEventArgs e)
{
if (m_nScale <= 0.3 && e.Delta <= 0)
{
return; //缩小下线
}
if (m_nScale >= 4.9 && e.Delta >= 0)
{
return; //放大上线
}
//获取 当前点到画布坐标原点的距离
SizeF szSub = (Size)m_ptCanvas - (Size)e.Location;
//当前的距离差除以缩放比还原到未缩放长度
float tempX = szSub.Width / m_nScale; //这里
float tempY = szSub.Height / m_nScale; //将画布比例
//还原上一次的偏移 //按照当前缩放比还原到
m_ptCanvas.X -= (int)(szSub.Width - tempX); //没有缩放
m_ptCanvas.Y -= (int)(szSub.Height - tempY); //的状态
//重置距离差为 未缩放状态
szSub.Width = tempX;
szSub.Height = tempY;
m_nScale += e.Delta > 0 ? 0.2F : -0.2F;
//重新计算 缩放并 重置画布原点坐标
m_ptCanvas.X += (int)(szSub.Width * m_nScale - szSub.Width);
m_ptCanvas.Y += (int)(szSub.Height * m_nScale - szSub.Height);
PictureBox_PREVIEWWND.Invalidate();
}
private void PictureBox_PREVIEWWND_MouseMove(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Left)
{ //移动过程中 左键点下 重置画布坐标系
m_ptCanvas = (Point)((Size)m_ptCanvasBuf + ((Size)e.Location - (Size)m_ptMouseDown));
PictureBox_PREVIEWWND.Invalidate();
}
}
private void PictureBox_PREVIEWWND_MouseDown(object sender, MouseEventArgs e)
{
if (e.Button == MouseButtons.Left)
{ //如果左键点下 初始化计算要用的临时数据
m_ptMouseDown = e.Location;
m_ptCanvasBuf = m_ptCanvas;
}
PictureBox_PREVIEWWND.Focus();
}
private void GvspThread()
{
int nRet = 0;
uint uiGvspport = 0xcbbb;
uint uiGvspsize = 0;
KSJGigeVisionApi.KSJGIGEVISION_WriteRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0xd00, uiGvspport);
KSJGigeVisionApi.KSJGIGEVISION_CameraSetGvspPort(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], (int)uiGvspport);
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0xd04, ref uiGvspsize);
KSJGigeVisionApi.KSJGIGEVISION_CameraSetGvspSize(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], (int)uiGvspsize);
uint nColSize = 0;
uint nRowSize = 0;
uint nType = 0;
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x100, ref nColSize);
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x104, ref nRowSize);
KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0xb000, ref nType);
byte[] pImageData = new byte[nColSize * nRowSize * 8];
KSJGigeVisionApi.KSJGIGEVISION_WriteRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x124, 1);
decimal fProfiley;
fProfiley = YnumericUpDown.Value;
float fZmapLow = (float)(Math.Round(LownumericUpDown.Value * 100)) / 100;
float fZmapHigh = (float)(Math.Round(HighnumericUpDown.Value * 100)) / 100;
float unit = (fZmapHigh - fZmapLow) / 255;
int nWidth = (int)nColSize;
int nHeight = (int)nRowSize;
int nCount = 0;
float[] profile;
float[] profilex;
Graphics g;
int i = 0;
Point p1 = new Point(0, 0);
Point p2 = new Point(0, 0);
int Index = 0;
byte[] idata = new byte[nColSize * nRowSize];
//Bitmap bitmap;
while (true)
{
if (exitEvent.WaitOne(0))
{
KSJGigeVisionApi.KSJGIGEVISION_WriteRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x124, 0);
break;
}
nRet = KSJGigeVisionApi.KSJGIGEVISION_CameraGet3DGvspData(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], (int)nType, pImageData, ref nWidth, ref nHeight); //采集相机一帧
if (nRet == 1) //采集成功
{
if (nType == 0) //gray
{
bitmap = ToGrayBitmap(pImageData, nWidth, nHeight);
if (!init)//未进行过宽高比例计算
{
float proportion = (float)PictureBox_PREVIEWWND.Width / (float)PictureBox_PREVIEWWND.Height;
float proportion_bmp = (float)nWidth / (float)nHeight;
if (proportion < proportion_bmp)//比较控件和图片宽高比，根据不同情况设置位图在控件内初始显示位置
{
m_nScale = (float)PictureBox_PREVIEWWND.Width / (float)nWidth;
float h = nHeight * m_nScale;
m_ptCanvas = new Point(0, 0);
int offset = (PictureBox_PREVIEWWND.Height - (int)h) / 2;
m_ptBmp = new Point(0, (int)(offset / m_nScale));
}
else
{
m_nScale = (float)PictureBox_PREVIEWWND.Height / (float)nHeight;
float w = nWidth * m_nScale;
m_ptCanvas = new Point(0, 0);
int offset = (PictureBox_PREVIEWWND.Width - (int)w) / 2;
m_ptBmp = new Point((int)(offset / m_nScale), 0);
}
init = true;//进行设置后标记
}
PictureBox_PREVIEWWND.Invalidate();
}
else if (nType == 1)//profile
{
profile = new float[nColSize * nHeight];
profilex = new float[nColSize * nHeight];
for (i = 0; i < nWidth; i++)
{
profile[i] = BitConverter.ToSingle(pImageData, i * 4);
}
for (i = 0; i < nWidth; i++)
{
profilex[i] = BitConverter.ToSingle(pImageData, (i + nWidth) * 4);
}
bitmap = new Bitmap(nWidth, 256);
g = Graphics.FromImage(bitmap);
g.Clear(Color.Black);
for (i = 1; i < nWidth; ++i)//绘制图片
{
if (profile[i - 1] != -1000 && profile[i] != -1000 && profilex[i - 1] > 0 && profilex[i] > 0)
{
p1.X = (int)(profilex[i - 1] * 1280 / 50);
p1.Y = (int)(256 - profile[i - 1] * 256 / 10);
p2.X = (int)(profilex[i] * 1280 / 50);
p2.Y = (int)(256 - profile[i] * 256 / 10);
g.DrawLine(new Pen(Color.White, 1), p1, p2);
}
}
if (!init)//未进行过宽高比例计算
{
float proportion = (float)PictureBox_PREVIEWWND.Width / (float)PictureBox_PREVIEWWND.Height;
float proportion_bmp = (float)nWidth / (float)nHeight;
if (proportion < proportion_bmp)//比较控件和图片宽高比，根据不同情况设置位图在控件内初始显示位置
{
m_nScale = (float)PictureBox_PREVIEWWND.Width / (float)nWidth;
float h = nHeight * m_nScale;
m_ptCanvas = new Point(0, 0);
int offset = (PictureBox_PREVIEWWND.Height - (int)h) / 2;
m_ptBmp = new Point(0, (int)(offset / m_nScale));
}
else
{
m_nScale = (float)PictureBox_PREVIEWWND.Height / (float)nHeight;
float w = nWidth * m_nScale;
m_ptCanvas = new Point(0, 0);
int offset = (PictureBox_PREVIEWWND.Width - (int)w) / 2;
m_ptBmp = new Point((int)(offset / m_nScale), 0);
}
init = true;//进行设置后标记
}
PictureBox_PREVIEWWND.Invalidate();
//this.PictureBox_PREVIEWWND.Image = bitmap;
g.Dispose();
}
else if (nType == 2)//3d
{
nCount = nWidth * nHeight;
profile = new float[nCount];
profilex = new float[nCount];
for (i = 0; i < nCount; i++)
{
profile[i] = BitConverter.ToSingle(pImageData, i * 4);
}
for (i = 0; i < nCount; i++)
{
profilex[i] = BitConverter.ToSingle(pImageData, (i + nCount) * 4);
}
Index = 0;
for (i = 0; i < nHeight; ++i)
{
for (int j = 0; j < nWidth; ++j)
{
if (profile[Index] <= fZmapHigh && profile[Index] >= fZmapLow)
{
idata[Index] = (byte)((profile[Index] - fZmapLow) / unit + 0.5);
}
else
{
idata[Index] = 0;
}
++Index;
}
}
bitmap = ToGrayBitmap(idata, nWidth, nHeight);
//this.PictureBox_PREVIEWWND.Image = bitmap;
if (!init)//未进行过宽高比例计算
{
float proportion = (float)PictureBox_PREVIEWWND.Width / (float)PictureBox_PREVIEWWND.Height;
float proportion_bmp = (float)nWidth / (float)nHeight;
if (proportion < proportion_bmp)//比较控件和图片宽高比，根据不同情况设置位图在控件内初始显示位置
{
m_nScale = (float)PictureBox_PREVIEWWND.Width / (float)nWidth;
float h = nHeight * m_nScale;
m_ptCanvas = new Point(0, 0);
int offset = (PictureBox_PREVIEWWND.Height - (int)h) / 2;
m_ptBmp = new Point(0, (int)(offset / m_nScale));
}
else
{
m_nScale = (float)PictureBox_PREVIEWWND.Height / (float)nHeight;
float w = nWidth * m_nScale;
m_ptCanvas = new Point(0, 0);
int offset = (PictureBox_PREVIEWWND.Width - (int)w) / 2;
m_ptBmp = new Point((int)(offset / m_nScale), 0);
}
init = true;//进行设置后标记
}
PictureBox_PREVIEWWND.Invalidate();
bool bCheck = SavecheckBox.Checked;
if (bCheck)
{
#if halcon12//使用halcon保存om3文件
string t1, filename;
t1 = DateTime.Now.ToString("yyyy-MM-dd");
System.Diagnostics.Debug.WriteLine("开始保存");
filename = t1 + "-" + DateTime.Now.Hour.ToString() + DateTime.Now.Minute.ToString() + DateTime.Now.Second.ToString() + ".om3";
HTuple hv_PointCoordX = new HTuple();
HTuple hv_PointCoordY = new HTuple();
HTuple hv_PointCoordZ = new HTuple();
for (i = 0; i < nCount; i++)
{
hv_PointCoordX[i] = profilex[i];
hv_PointCoordY[i] = (float)fProfiley * (i / 1280);
hv_PointCoordZ[i] = profile[i];
}
HTuple hv_ObjectModel3D;
HOperatorSet.GenObjectModel3dFromPoints(hv_PointCoordX, hv_PointCoordY, hv_PointCoordZ, out hv_ObjectModel3D);
HOperatorSet.WriteObjectModel3d(hv_ObjectModel3D, "om3", filename, "invert_normals", "false");
System.Diagnostics.Debug.WriteLine("保存完毕");
#else//不使用halcon保存pcd文件
FileStream fs = new FileStream("test.pcd", FileMode.Create);
string temp = "# .PCD v0.7 - Point Cloud Data file format\n";
byte[] data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "VERSION 0.7\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "FIELDS x y z\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "SIZE 4 4 4\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "TYPE F F F\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "COUNT 1 1 1\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = string.Format("WIDTH {0}\n", nColSize);
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = string.Format("HEIGHT {0}\n", nRowSize);
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "VIEWPOINT 0 0 0 1 0 0 0\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = string.Format("POINTS {0}\n", nCount);
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
temp = "DATA ascii\n";
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
for (i = 0; i < nCount; i++)
{
if (i != nCount - 1)
{
if (profilex[i] == -1000)
{
temp = "nan nan nan\n";
}
else
{
temp = string.Format("{0:N5} {1:N5} {2:N5}\n", profilex[i], fProfiley * (i / 1280), profile[i]);
}
}
else
{
if (profilex[i] == -1000)
{
temp = "nan nan nan";
}
else
{
temp = string.Format("{0:N5} {1:N5} {2:N5}", profilex[i], fProfiley * (i / 1280), profile[i]);
}
}
data = System.Text.Encoding.Default.GetBytes(temp);
fs.Write(data, 0, data.Length);
}
//清空缓冲区、关闭流
fs.Flush();
fs.Close();
#endif
}
}
}
}
}
