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820689062
2025-10-20 14:47:17 +08:00
parent 2e46747ba9
commit 546b894e6b
16 changed files with 917 additions and 141 deletions
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147
Check.Main/Camera/CameraProcessor.cs
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@@ -1,5 +1,6 @@
using Check.Main.Common;
using Check.Main.Infer;
using HalconTemplateMatch;
using SkiaSharp;
using System;
using System.Collections.Concurrent;
@@ -10,7 +11,7 @@ using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using YoloDotNet.Extensions;
using OpenCvSharp;
namespace Check.Main.Camera
{
public class CameraProcessor : IDisposable
@@ -52,6 +53,9 @@ namespace Check.Main.Camera
_imageQueue.Add(new ImageData(_imageCounter, _cameraIndex, bmp));
}
/// <summary>
/// 图像处理主循环
/// </summary>
private void ProcessQueue()
{
// 从模型管理器获取此线程专属的YOLO模型
@@ -61,6 +65,36 @@ namespace Check.Main.Camera
ThreadSafeLogger.Log($"[错误] 相机 #{_modeId} 无法获取对应的YOLO模型，处理线程已中止。");
return; // 如果没有模型，此线程无法工作
}
//训练阶段（相机2）
var trainer = new LogoTemplateTrainer();
trainer.TrainAndSaveTemplates(
new List<string>
{
@"D:\HalconTemplateMatch\train2\logo1.bmp",
@"D:\HalconTemplateMatch\train2\logo2.bmp",
@"D:\HalconTemplateMatch\train2\logo3.bmp"
},
@"D:\HalconTemplateMatch\model_2");
//训练阶段（相机3）9.25修改！！
trainer.TrainAndSaveTemplates(
new List<string>
{
@"D:\HalconTemplateMatch\train3\3C_1.bmp",
@"D:\HalconTemplateMatch\train3\3C_2.bmp",
@"D:\HalconTemplateMatch\train3\3C_3.bmp"
},
@"D:\HalconTemplateMatch\model_3");
if (trainer == null)
{
ThreadSafeLogger.Log($"[错误] 相机 #{_modeId} 未加载模板，处理线程已中止。");
return;
}
while (_isRunning)
{
try
@@ -69,19 +103,15 @@ namespace Check.Main.Camera
ImageData data = _imageQueue.Take();
using (data)
{
//SKImage resultSkImage = null; // 用于存储最终绘制好结果的图像
string result = "";
using (var skImage = ConvertBitmapToSKImage(data.Image)) // 转换图像格式并管理其生命周期
{
if (skImage == null) continue;
var predictions = yoloModel.RunObjectDetection(skImage);
// 模拟模型处理
//Thread.Sleep(50); // 模拟耗时
//bool isOk = new Random().NextDouble() > 0.1;
//string result = isOk ? "OK" : "NG";
result = predictions.Any() ? "NG" : "OK";
string result = predictions.Any() ? "NG" : "OK";
ThreadSafeLogger.Log($"相机 #{_cameraIndex} 处理产品 #{data.ProductId}，检测到 {predictions.Count} 个目标，结果: {result}");
// 将处理结果交给协调器进行组装
DetectionCoordinator.AssembleProduct(data, result);
@@ -90,16 +120,111 @@ namespace Check.Main.Camera
using (var resultSkImage = skImage.Draw(predictions))
{
// 4. 触发事件，将绘制好的 resultSkImage 传递出去
Bitmap bitmap = CameraManager.ConvertSKImageToBitmap(resultSkImage);
// 所有权在这里被转移
OnProcessingCompleted?.Invoke(this, new ProcessingCompletedEventArgs(
_cameraIndex,
data.ProductId,
resultSkImage
bitmap
));
}
}
}
//***********************************使用Halcon模板匹配进行检测****************************************************
if (data.Image == null) continue;
// 统一定义预测结果
var matcher = new LogoMatcher();
//9.25（增加一根据不同的相机编号调用不同的模型！）
string filepath = "";
if (_cameraIndex == 2)
{
matcher.LoadTemplates(@"D:\HalconTemplateMatch\model_2");
filepath = "D:\\HalconTemplateMatch\\train2";
}
else if (_cameraIndex == 3)
{
matcher.LoadTemplates(@"D:\HalconTemplateMatch\model_3");
filepath = "D:\\HalconTemplateMatch\\train3";
}
////原bool返回的处理
//bool found = matcher.FindLogo(data.Image);
//string result = found ? "OK":"NG";
//double返回的处理
double score = matcher.FindLogo(data.Image);
//Mat cam = ProcessImg.BitmapToMat(data.Image);
//score= ProcessImg.ProcessImagesInFolder(filepath,cam);
//string result = (score > 0.5) ? "OK" : "NG";
ThreadSafeLogger.Log($"相机 #{_cameraIndex} 处理产品 #{data.ProductId}，结果: {result},得分: {score}");
// 将处理结果交给协调器进行组装
DetectionCoordinator.AssembleProduct(data, result);
//给PLC的M90、M91写值（10.10）
if (FrmMain.PlcClient != null && FrmMain.PlcClient.IsConnected)
{
if (result == "OK")
{
//吹气到合格框
FrmMain.PlcClient.WriteAsync("M90", 1).Wait(); // 写入M90为1
//Thread.Sleep(100);
FrmMain.PlcClient.WriteAsync("M90", 0).Wait(); // 写入M90为1
//var a = FrmMain.PlcClient.ReadAsync("M90");
//Console.WriteLine(a);
//FrmMain.PlcClient.WriteAsync("M91", 0).Wait();
// 延时复位
Task.Run(async () =>
{
//await Task.Delay(300); // 延时300毫秒，可根据实际气动时间调整
//await FrmMain.PlcClient.WriteAsync("M90", 0);
});
}
else
{
//吹气到不合格框
//FrmMain.PlcClient.WriteAsync("M90", 0).Wait();
FrmMain.PlcClient.WriteAsync("M91", 1).Wait();// 写入M91为1
FrmMain.PlcClient.WriteAsync("M91", 0).Wait(); // 写入M90为1
//var a = FrmMain.PlcClient.ReadAsync("M90");
//Console.WriteLine(a);
// 延时复位
Task.Run(async () =>
{
//await Task.Delay(300);
//await FrmMain.PlcClient.WriteAsync("M91", 0);
});
}
}
else
{
ThreadSafeLogger.Log("[PLC] 未连接，跳过写入。");
}
// ③ 外部订阅事件
OnProcessingCompleted?.Invoke(
this,
new ProcessingCompletedEventArgs
(
_cameraIndex,
data.ProductId,
data.Image // 原图传出去
)
);
}
}
catch (InvalidOperationException)
@@ -107,12 +232,14 @@ namespace Check.Main.Camera
// 当调用 Stop 时，会 CompleteAdding 队列，Take 会抛出此异常，是正常退出流程
break;
}
catch (Exception ex)
catch (Exception ex)
{
ThreadSafeLogger.Log($"[ERROR] 相机 #{_cameraIndex} 处理线程异常: {ex.Message}");
}
}
}
/// <summary>
/// 将 System.Drawing.Bitmap 安全地转换为 SkiaSharp.SKImage。
/// </summary>