Metis_xctg/ImageCollect/CameraRealTimeStitchingDialog.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using OpenCvSharp;
using OpenCvSharp.Extensions;
using PaintDotNet.Adjust;
using PaintDotNet.Adjust.BaseImage;
using PaintDotNet.Annotation.Measure;
using PaintDotNet.Base.SettingModel;
using PaintDotNet.Camera;

namespace PaintDotNet.ImageCollect
{
    internal class CameraRealTimeStitchingDialog : FloatingToolForm
    {
        #region
        /// <summary>
        /// Required designer variable.
        /// </summary>
        private System.ComponentModel.IContainer components = null;

        /// <summary>
        /// Clean up any resources being used.
        /// </summary>
        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
        protected override void Dispose(bool disposing)
        {
            if (disposing && (components != null))
            {
                components.Dispose();
            }
            base.Dispose(disposing);
        }

        #region Windows Form Designer generated code

        private void InitializeLanguageText()
        {
            this.groupBox1.Text = PdnResources.GetString("Menu.operation.text");
            this.btnCreatImgFile.Text = PdnResources.GetString("Menu.Createpicture.text");
            this.btnWorking.Text = PdnResources.GetString("Menu.Started.text");
            this.groupBox3.Text = PdnResources.GetString("Menu.Preview.text");
            this.groupBox4.Text = PdnResources.GetString("Menu.Puzzleeffect.text");
            this.Text = PdnResources.GetString("Menu.imagecapture.Reatimldexpansion.Reaestitching.text");

        }

        /// <summary>
        /// Required method for Designer support - do not modify
        /// the contents of this method with the code editor.
        /// </summary>
        private void InitializeComponent()
        {
            this.groupBox1 = new System.Windows.Forms.GroupBox();
            this.btnCreatImgFile = new System.Windows.Forms.Button();
            this.btnWorking = new System.Windows.Forms.Button();
            this.groupBox3 = new System.Windows.Forms.GroupBox();
            this.picPreview = new System.Windows.Forms.PictureBox();
            this.groupBox4 = new System.Windows.Forms.GroupBox();
            this.picMatch = new DocumentStitchWindow();// System.Windows.Forms.PictureBox();
            this.groupBox1.SuspendLayout();
            this.groupBox3.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.picPreview)).BeginInit();
            this.groupBox4.SuspendLayout();
            //((System.ComponentModel.ISupportInitialize)(this.picMatch)).BeginInit();
            this.SuspendLayout();
            // 
            // groupBox1
            // 
            this.groupBox1.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left)
            | System.Windows.Forms.AnchorStyles.Right)));
            this.groupBox1.Controls.Add(this.btnCreatImgFile);
            this.groupBox1.Controls.Add(this.btnWorking);
            this.groupBox1.Location = new System.Drawing.Point(12, 12);
            this.groupBox1.Name = "groupBox1";
            this.groupBox1.Size = new System.Drawing.Size(1217, 87);
            this.groupBox1.TabIndex = 1;
            this.groupBox1.TabStop = false;
            this.groupBox1.Text = "操作";
            // 
            // btnCreatImgFile
            // 
            this.btnCreatImgFile.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
            this.btnCreatImgFile.Location = new System.Drawing.Point(1106, 28);
            this.btnCreatImgFile.Name = "btnCreatImgFile";
            this.btnCreatImgFile.Size = new System.Drawing.Size(92, 34);
            this.btnCreatImgFile.TabIndex = 1;
            this.btnCreatImgFile.Text = "创建图片";
            this.btnCreatImgFile.UseVisualStyleBackColor = true;
            this.btnCreatImgFile.Click += new System.EventHandler(this.btnCreatImgFile_Click);
            // 
            // btnWorking
            // 
            this.btnWorking.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right)));
            this.btnWorking.Location = new System.Drawing.Point(993, 28);
            this.btnWorking.Name = "btnWorking";
            this.btnWorking.Size = new System.Drawing.Size(89, 34);
            this.btnWorking.TabIndex = 0;
            this.btnWorking.Text = "开始";
            this.btnWorking.UseVisualStyleBackColor = true;
            this.btnWorking.Click += new System.EventHandler(this.btnWorking_Click);
            // 
            // groupBox3
            // 
            this.groupBox3.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
            | System.Windows.Forms.AnchorStyles.Left)));
            this.groupBox3.Controls.Add(this.picPreview);
            this.groupBox3.Location = new System.Drawing.Point(12, 105);
            this.groupBox3.Name = "groupBox3";
            this.groupBox3.Size = new System.Drawing.Size(466, 517);
            this.groupBox3.TabIndex = 3;
            this.groupBox3.TabStop = false;
            this.groupBox3.Text = "预览";
            // 
            // picPreview
            // 
            this.picPreview.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
            | System.Windows.Forms.AnchorStyles.Left)
            | System.Windows.Forms.AnchorStyles.Right)));
            this.picPreview.Location = new System.Drawing.Point(20, 74);
            this.picPreview.Name = "picPreview";
            this.picPreview.Size = new System.Drawing.Size(429, 364);
            this.picPreview.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
            this.picPreview.TabIndex = 0;
            this.picPreview.TabStop = false;
            // 
            // groupBox4
            // 
            this.groupBox4.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
            | System.Windows.Forms.AnchorStyles.Left)
            | System.Windows.Forms.AnchorStyles.Right)));
            this.groupBox4.Controls.Add(this.picMatch);
            this.groupBox4.Location = new System.Drawing.Point(484, 105);
            this.groupBox4.Name = "groupBox4";
            this.groupBox4.Size = new System.Drawing.Size(745, 517);
            this.groupBox4.TabIndex = 4;
            this.groupBox4.TabStop = false;
            this.groupBox4.Text = "拼图效果";
            // 
            // picMatch
            // 
            this.picMatch.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
            | System.Windows.Forms.AnchorStyles.Left)
            | System.Windows.Forms.AnchorStyles.Right)));
            this.picMatch.Location = new System.Drawing.Point(17, 74);
            this.picMatch.Name = "picMatch";
            this.picMatch.Size = new System.Drawing.Size(709, 416);
            //this.picMatch.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
            this.picMatch.TabIndex = 1;
            this.picMatch.TabStop = false;
            // 
            // CameraRealTimeStitchingDialog
            // 
            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
            this.ClientSize = new System.Drawing.Size(1241, 634);
            this.Controls.Add(this.groupBox4);
            this.Controls.Add(this.groupBox3);
            this.Controls.Add(this.groupBox1);
            this.Name = "CameraRealTimeStitchingDialog";
            this.Text = "图像实时拼接";
            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.CameraRealTimeStitchingDialog_FormClosing);
            this.Load += new System.EventHandler(this.CameraRealTimeStitchingDialog_Load);
            this.Controls.SetChildIndex(this.groupBox1, 0);
            this.Controls.SetChildIndex(this.groupBox3, 0);
            this.Controls.SetChildIndex(this.groupBox4, 0);
            this.groupBox1.ResumeLayout(false);
            this.groupBox3.ResumeLayout(false);
            ((System.ComponentModel.ISupportInitialize)(this.picPreview)).EndInit();
            this.groupBox4.ResumeLayout(false);
            //((System.ComponentModel.ISupportInitialize)(this.picMatch)).EndInit();
            this.ResumeLayout(false);

        }

        #endregion

        private System.Windows.Forms.GroupBox groupBox1;
        private System.Windows.Forms.Button btnCreatImgFile;
        private System.Windows.Forms.Button btnWorking;
        private System.Windows.Forms.GroupBox groupBox3;
        private System.Windows.Forms.PictureBox picPreview;
        private System.Windows.Forms.GroupBox groupBox4;
        private /*System.Windows.Forms.PictureBox*/DocumentStitchWindow picMatch;
        #endregion
        private AppWorkspace m_appWorkspace;

        private ICamera m_camera;
        private CameraParamModel m_cameraParamModel;
        private Mat m_mat;

        private Thread m_stitchingThread;
        private bool is_depth;
        private Mat[] Coll_Ori = new Mat[2];

        private int newOriX = 10000;
        private int newOriY = 10000;
        private Mat m_merge;

        private string m_filePath = Application.StartupPath + "\\Picture\\";


        private bool m_isWorking;
        private bool _isWorkingDone;

        public CameraRealTimeStitchingDialog(AppWorkspace appWorkspace)
        {
            m_appWorkspace = appWorkspace;
            InitializeComponent();
            InitializeLanguageText();
        }

        private void CameraRealTimeStitchingDialog_Load(object sender, EventArgs e)
        {

            m_camera = CameraManager.CurrentCamera;
            m_cameraParamModel = Startup.instance.cameraParamModel;

            CameraConfigs cameraConfig = CameraConfigs.GetInstance();
            cameraConfig.CameraParamInit();

            CameraManager.FrameCallback += CallbackDraw;
        }

        private byte[] m_pbuf;

        /// <summary>
        /// 绘制
        /// </summary>
        /// <param name="pBuf"></param>
        /// <param name="obj"></param>
        public void CallbackDraw(Bitmap bitmap)
        {
            if (bitmap == null) return;
            m_mat = Tools.ToMat(bitmap);
            picPreview.Image = (Image)bitmap.Clone();
        }


        private void btnWorking_Click(object sender, EventArgs e)
        {
            if (m_isWorking)
            {
                m_isWorking = false;
                m_stitchingThread.Abort();
                m_stitchingThread.DisableComObjectEagerCleanup();
                btnWorking.Text = PdnResources.GetString("Menu.Started.text");
                new Task(() =>
                {
                    Thread.Sleep(500);
                    this.Invoke(new Action(() =>
                    {
                        btnWorking.Text = PdnResources.GetString("Menu.Started.text");
                    }));
                }).Start();
                return;
            }
            if (m_merge != null)
            {
                newOriX = 10000;
                newOriY = 10000;
                picMatch.StitchBounds = new Rectangle(newOriX, newOriY, 0, 0);
                picMatch.StitchDocument = null;
                picMatch.Refresh();
                m_merge.Dispose(); m_merge = null;
                this.picMatch.Visible = false;
                this.groupBox4.Controls.Remove(this.picMatch);

                this.picMatch = new DocumentStitchWindow();
                this.groupBox4.Controls.Add(this.picMatch);
                // picMatch
                this.picMatch.Anchor = ((System.Windows.Forms.AnchorStyles)((((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Bottom)
                | System.Windows.Forms.AnchorStyles.Left)
                | System.Windows.Forms.AnchorStyles.Right)));
                this.picMatch.Location = new System.Drawing.Point(17, 74);
                this.picMatch.Name = "picMatch";
                this.picMatch.Size = new System.Drawing.Size(709, 416);
                this.picMatch.TabIndex = 1;
                this.picMatch.TabStop = false;
            }
            m_isWorking = true;
            btnWorking.Text = PdnResources.GetString("Menu.stop.text");
            lastRect = new Rect(-10000, -10000, 0, 0);
            m_merge = null;
            m_stitchingThread = new Thread(new ThreadStart(WaitForStitchingThreadEntry));
            m_stitchingThread.Start();
        }

        private Rect lastRect = new Rect(-10000, -10000, 0, 0);
        /// <summary>
        /// 图像拼接
        /// </summary>
        private void WaitForStitchingThreadEntry()
        {
            while (m_isWorking)
            {
                if (m_mat == null)
                {
                    Thread.Sleep(100);
                    continue;
                }

                Mat mat = m_mat;//.Clone();

                if (m_merge == null)
                {
                    m_merge = new Mat(20000 + newOriY, 20000 + newOriX, MatType.CV_8UC3);
                    picMatch.StitchDocument = StitchDocument.FromMat(m_merge/*tmp*/);
                    picMatch.StitchBounds = new Rectangle(newOriX, newOriY, 0, 0);
                    picMatch.StitchDocument.surface.stitchBackColor = picMatch.BackColor;
                    picMatch.ActiveTool = Annotation.Enum.DrawToolType.MoveMode;
                    AdjustIntent.InitMatchPicOneByOne(true, newOriX, newOriY, m_merge);
                }
                Rect rect;
                var result = AdjustIntent.MatchPicRealtime(mat, m_merge, out bool error, out rect);
                if (!error)
                {
                    if (result != null)
                        m_merge = result;
                }
                else
                {
                    Console.WriteLine("拼图失败");
                }

                picMatch.GraphicsList.Clear();
                MeasureRectangle rectObject = new MeasureRectangle(picMatch, rect.X, rect.Y, rect.Width, rect.Height);
                picMatch.GraphicsList.Add(rectObject);
                //var tmp = m_merge.Clone();
                //Cv2.Rectangle(tmp, rect, Scalar.Lime, 5, LineTypes.Link4, 4);
                ////picMatch.Image = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(tmp);
                ////picMatch.Invalidate();

                int disX = Math.Abs(rect.X - lastRect.X);
                int disY = Math.Abs(rect.Y - lastRect.Y);
                lastRect = rect;

                if (picMatch.StitchBounds.Width == 0)
                {
                    picMatch.StitchDocument.surface.stitchBounds.Width = rect.Width;// matNew.Width;
                    picMatch.StitchDocument.surface.stitchBounds.Height = rect.Height;// matNew.Height;
                }
                else
                {
                    int x = Math.Min(picMatch.StitchBounds.X, rect.X);
                    int y = Math.Min(picMatch.StitchBounds.Y, rect.Y);
                    int x2 = Math.Max(picMatch.StitchBounds.Right, rect.Right);
                    int y2 = Math.Max(picMatch.StitchBounds.Bottom, rect.Bottom);
                    picMatch.StitchBounds = new Rectangle(x, y, x2 - x, y2 - y);
                    //picMatch.StitchDocument.surface.stitchBounds.Width += stitchStep;
                    //picMatch.StitchDocument.surface.stitchBounds.Height += stitchStep;
                }
                if (!m_isWorking) 
                    return;
                this.Invoke(new Action(() =>
                {
                    //PointF centerPt = picMatch.DocumentCenterPointF;
                    ////PointF centerPt = new PointF(picMatch.picRectWidth/*(newOriX + matNew.Width)*/ * 0.5f, picMatch.picRectHeight/*(newOriY + matNew.Height)*/ * 0.5f);// picMatch.DocumentCenterPointF;
                    if (disX > 500 || disY > 500)
                    {
                        picMatch.ZoomBasis = ZoomBasis.ScaleFactor;
                        picMatch.ZoomBasis = ZoomBasis.FitToWindow;
                        picMatch.ZoomBasis = ZoomBasis.ScaleFactor;
                        picMatch.panel.HorizontalScroll.Value = (int)(picMatch.panel.HorizontalScroll.Maximum * picMatch.StitchBounds.X / (picMatch.StitchWidth));// (int)(picMatch.ScaleFactor.Ratio * 440);// (int)(picMatch.panel.HorizontalScroll.LargeChange * 0.5);// picMatch.ScaleFactor.Ratio * 225.0 / (picMatch.picRectWidth/*20006*/ - 0/*picMatch.picRectWidth*/));
                        picMatch.panel.VerticalScroll.Value = (int)(picMatch.panel.VerticalScroll.Maximum * picMatch.StitchBounds.Y / picMatch.StitchHeight);// (int)(picMatch.ScaleFactor.Ratio * 150);// (int)(picMatch.panel.VerticalScroll.LargeChange * 0.5);// * picMatch.ScaleFactor.Ratio * 150.0 / (picMatch.picRectHeight/*20006*/ - 0/*picMatch.picRectHeight*/));
                    }
                    picMatch.Refresh();
                }));
                GC.Collect();

            }
        }

        private void btnCreatImgFile_Click(object sender, EventArgs e)
        {
            if (picMatch.StitchMat/*m_merge*/ == null)
            {
                MessageBox.Show(PdnResources.GetString("Menu.mageMosaicimagehanotbeengeneratedyet.Text"));
                return;
            }
            //Bitmap bitmap = OpenCvSharp.Extensions.BitmapConverter.ToBitmap(m_merge);
            DocumentWorkspace dw = m_appWorkspace.AddNewDocumentWorkspace();
            Document document = Document.FromMat(picMatch.StitchMat/*m_merge*/.Clone())/*FromImage(bitmap)*/;
            dw.Document = document;
            dw.xmlSaveModel = Startup.instance.ruleDB;
            dw.InitRulerInfo();
            dw.fileText = "1";
            dw.fileText = string.Format("{0}-{1:D3}", "实时拼图", Startup.instance.step_length++);
            m_appWorkspace.ActiveDocumentWorkspace = dw;
        }

        private void CameraRealTimeStitchingDialog_FormClosing(object sender, FormClosingEventArgs e)
        {
            if (m_stitchingThread != null)
            {
                m_isWorking = false;
                //m_stitchingThread.Join();
                //m_stitchingThread.Abort();
                //m_stitchingThread.DisableComObjectEagerCleanup();
            }
            CameraManager.FrameCallback -= CallbackDraw;
            if (m_mat != null && !m_mat.IsDisposed)
            {
                m_mat.Dispose();
            }
            if (m_merge != null && !m_merge.IsDisposed)
            {
                m_merge.Dispose();
            }
            GC.Collect();
        }
    }
}