public Context(
Core.BuildingBlocks.Setup setup,
Core.BuildingBlocks.FrameGrabber fg,
Core.BuildingBlocks.RenderLoop rl,
UI.Concrete.EmbeddableStream es)
{
_es = es;
_setup = setup;
_fg = fg;
_rl = rl;
}
public Context(
Core.BuildingBlocks.Setup setup,
Core.BuildingBlocks.FrameGrabber fg,
Core.BuildingBlocks.RenderLoop rl,
UI.Concrete.EmbeddableStream es)
{
_es = es;
_setup = setup;
_fg = fg;
_rl = rl;
}
private void _btn_load_configuration_Click(object sender, EventArgs e)
{
if (_open_dlg.ShowDialog(this) == DialogResult.OK)
{
int device_index = -1;
try {
_context.FrameGrabber.Stop();
device_index = _context.Setup.Camera.DeviceIndex;
_context.Setup.Camera.Dispose(); // Throw old camera away
Core.BuildingBlocks.Setup s = Core.BuildingBlocks.Setup.LoadBinary(_open_dlg.FileName);
_context.FrameGrabber.Camera = s.Camera;
_context.Setup = s;
_logger.Info("Loading Parsley configuration succeeded.");
} catch (Exception) {
_logger.Error("Loading Parsley configuration failed.");
_context.Setup.Camera = new Parsley.Core.BuildingBlocks.Camera(device_index);
_context.FrameGrabber.Camera = _context.Setup.Camera;
} finally {
_context.FrameGrabber.Start();
}
}
}
/// <summary>
/// Process image
/// </summary>
/// <param name="s">Setup</param>
/// <param name="image">Image</param>
/// <param name="points">Found points</param>
/// <param name="pixels">Corresponding pixels for each point</param>
/// <returns>True if successful, false otherwise</returns>
public bool Process(
Setup s, Emgu.CV.Image<Bgr, byte> image,
out List<Vector> points, out List<System.Drawing.Point> pixels)
{
pixels = null;
points = null;
// 1. Update values needed by algorithms
Bundle b = new Bundle();
BundleBookmarks bb = new BundleBookmarks(b);
bb.ROI = _roi;
bb.ReferencePlanes = s.ReferenceBody.ReferencePlanes;
bb.Image = image;
bb.LaserColor = s.Laser.Color;
// 2. Extract laser line
if (!_line_algorithm.FindLaserLine(bb.Bundle)) return false;
// 3. Filter laser points
if (!_line_filter.FilterLaserLine(bb.Bundle)) return false;
if (bb.LaserPixel.Count < 3) return false;
// 4. Detect laser plane
List<Ray> eye_rays = new List<Ray>(Core.Ray.EyeRays(s.Camera.Intrinsics, bb.LaserPixel.ToArray()));
bb.EyeRays = eye_rays;
if (!_plane_algorithm.FindLaserPlane(bb.Bundle)) return false;
// 5. Filter laser plane
if (!_plane_filter.FilterLaserPlane(bb.Bundle)) return false;
// 6. Extract relevant points in ROI
pixels = new List<System.Drawing.Point>();
points = new List<Vector>();
List<System.Drawing.PointF> laser_pixel = bb.LaserPixel;
Plane laser_plane = bb.LaserPlane;
IList<Plane> reference_planes = s.ReferenceBody.AllPlanes;
for (int i = 0; i < laser_pixel.Count; ++i) {
// Round to nearest pixel
System.Drawing.Point p = laser_pixel[i].ToNearestPoint();
double t;
if (_roi.Contains(p)) {
Core.Ray r = eye_rays[i];
if (Core.Intersection.RayPlane(r, laser_plane, out t)) {
if (this.PointInsideOfReferenceVolume(reference_planes, r, t))
{
System.Drawing.Point in_roi = Core.IndexHelper.MakeRelative(p, _roi);
pixels.Add(p);
_point_accum.Accumulate(in_roi, r, t);
points.Add(_point_accum.Extract(in_roi));
}
}
}
}
s.Positioner.TransformPoints(ref points);
return points.Count > 0;
}
public Main()
{
// Addin
Core.Addins.AddinStore.Discover();
Core.Addins.AddinStore.Discover(Environment.CurrentDirectory);
//Core.Addins.AddinStore.Discover(Path.Combine(Environment.CurrentDirectory, "plugins"));
InitializeComponent();
log4net.Appender.IAppender app =
LogManager.GetRepository().GetAppenders().FirstOrDefault(x => x is Logging.StatusStripAppender);
if (app != null)
{
Logging.StatusStripAppender ssa = app as Logging.StatusStripAppender;
ssa.StatusStrip = _status_strip;
ssa.ToolStripStatusLabel = _status_label;
}
Core.BuildingBlocks.Setup setup = null;
try //check konfigurasi parsley, jika tidak ada gunakan konfigurasi default
{
if (File.Exists(@"CurrentParsley.cfg"))
{
setup = Core.BuildingBlocks.Setup.LoadBinary(@"CurrentParsley.cfg");
//_logger.Info("Last Parsley configuration successfully loaded.");
_logger.Info("Last Parsley configuration successfully loaded.");
_logger.Debug("Last Parsley configuration successfully loaded.");
}
else
{
setup = new Parsley.Core.BuildingBlocks.Setup();
}
}
catch (System.Exception)
{
setup = new Parsley.Core.BuildingBlocks.Setup();
_logger.Info("Last Parsley configuration failed to load properly. Using default one.");
}
//setting streaming camera
Core.BuildingBlocks.FrameGrabber fg = new Parsley.Core.BuildingBlocks.FrameGrabber(setup.Camera);
_live_feed = new Parsley.UI.Concrete.StreamViewer();
_live_feed.Interpolation = Emgu.CV.CvEnum.INTER.CV_INTER_LINEAR;
_live_feed.FunctionalMode = Emgu.CV.UI.ImageBox.FunctionalModeOption.RightClickMenu;
_live_feed.FrameGrabber = fg;
_live_feed.FrameGrabber.FPS = 30;
_live_feed.FormClosing += new FormClosingEventHandler(_live_feed_FormClosing);
this.AddOwnedForm(_live_feed);
_live_feed.Show();
fg.Start();
//setting rendering 3d
_3d_viewer = new Parsley.UI.Concrete.Draw3DViewer();
_3d_viewer.FormClosing += new FormClosingEventHandler(_3d_viewer_FormClosing);
_3d_viewer.RenderLoop.FPS = 30;
_3d_viewer.AspectRatio = setup.Camera.FrameAspectRatio;
_3d_viewer.IsMaintainingAspectRatio = true;
_3d_viewer.RenderLoop.Start();
this.AddOwnedForm(_3d_viewer);
_3d_viewer.Show();
_context = new Context(setup, fg, _3d_viewer.RenderLoop, _live_feed.EmbeddableStream);
_settings = new Settings(_context);
_settings.FormClosing += new FormClosingEventHandler(_settings_FormClosing);
_settings.PropertyGrid.PropertyValueChanged += new PropertyValueChangedEventHandler(PropertyGrid_PropertyValueChanged);
this.AddOwnedForm(_settings);
_slide_welcome = new WelcomeSlide();
_slide_intrinsic_calib = new IntrinsicCalibrationSlide(_context);
_slide_extrinsic_calib = new ExtrinsicCalibrationSlide(_context);
_slide_laser_setup = new LaserSetupSlide(_context);
_slide_scanning = new ScanningSlide(_context);
_slide_image_algorithm_test = new ImageAlgorithmTestSlide(_context);
_slide_pattern_designer = new PatternDesignerSlide(_context);
_slide_control.AddSlide(_slide_welcome);
_slide_control.AddSlide(_slide_scanning);
_slide_control.AddSlide(_slide_intrinsic_calib);
_slide_control.AddSlide(_slide_extrinsic_calib);
_slide_control.AddSlide(_slide_laser_setup);
_slide_control.AddSlide(_slide_image_algorithm_test);
_slide_control.AddSlide(_slide_pattern_designer);
_slide_control.SlideChanged += new EventHandler <SlickInterface.SlideChangedArgs>(_slide_control_SlideChanged);
_slide_control.Selected = _slide_welcome;
}
/// <summary>
/// Process image
/// </summary>
/// <param name="s">Setup</param>
/// <param name="image">Image</param>
/// <param name="points">Found points</param>
/// <param name="pixels">Corresponding pixels for each point</param>
/// <returns>True if successful, false otherwise</returns>
public bool Process(
Setup s, Emgu.CV.Image <Bgr, byte> image,
out List <Vector> points, out List <System.Drawing.Point> pixels)
{
pixels = null;
points = null;
// 1. Update values needed by algorithms
Bundle b = new Bundle();
BundleBookmarks bb = new BundleBookmarks(b);
bb.ROI = _roi;
bb.ReferencePlanes = s.ReferenceBody.ReferencePlanes;
bb.Image = image;
bb.LaserColor = s.Laser.Color;
// 2. Extract laser line
if (!_line_algorithm.FindLaserLine(bb.Bundle))
{
return(false);
}
// 3. Filter laser points
if (!_line_filter.FilterLaserLine(bb.Bundle))
{
return(false);
}
if (bb.LaserPixel.Count < 3)
{
return(false);
}
// 4. Detect laser plane
List <Ray> eye_rays = new List <Ray>(Core.Ray.EyeRays(s.Camera.Intrinsics, bb.LaserPixel.ToArray()));
bb.EyeRays = eye_rays;
if (!_plane_algorithm.FindLaserPlane(bb.Bundle))
{
return(false);
}
// 5. Filter laser plane
if (!_plane_filter.FilterLaserPlane(bb.Bundle))
{
return(false);
}
// 6. Extract relevant points in ROI
pixels = new List <System.Drawing.Point>();
points = new List <Vector>();
List <System.Drawing.PointF> laser_pixel = bb.LaserPixel;
Plane laser_plane = bb.LaserPlane;
IList <Plane> reference_planes = s.ReferenceBody.AllPlanes;
for (int i = 0; i < laser_pixel.Count; ++i)
{
// Round to nearest pixel
System.Drawing.Point p = laser_pixel[i].ToNearestPoint();
double t;
if (_roi.Contains(p))
{
Core.Ray r = eye_rays[i];
if (Core.Intersection.RayPlane(r, laser_plane, out t))
{
if (this.PointInsideOfReferenceVolume(reference_planes, r, t))
{
System.Drawing.Point in_roi = Core.IndexHelper.MakeRelative(p, _roi);
pixels.Add(p);
_point_accum.Accumulate(in_roi, r, t);
points.Add(_point_accum.Extract(in_roi));
}
}
}
}
s.Positioner.TransformPoints(ref points);
return(points.Count > 0);
}
/// <summary>
/// Save setup to file
/// </summary>
/// <param name="path"></param>
/// <param name="s"></param>
public static void SaveBinary(string path, Setup setup) {
using (Stream s = File.OpenWrite(path)) {
if (s != null) {
IFormatter formatter = new BinaryFormatter();
formatter.Serialize(s, setup);
s.Close();
}
}
}
