using DH.Commons.Enums;
using DH.Devices.Devices;
using DH.UI.Model.Winform;
using HalconDotNet;
using OpenCvSharp;
using OpenCvSharp.Extensions;
using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Runtime.ExceptionServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Xml.Linq;
using XKRS.UI.Model.Winform;
using static DH.Commons.Enums.EnumHelper;
using ResultState = DH.Commons.Enums.ResultState;
namespace DH.Devices.Vision
{
public class SimboVisionDriver : VisionEngineBase
{
public Dictionary<string, HDevEngineTool> HalconToolDict = new Dictionary<string, HDevEngineTool>();
public List<SimboStationMLEngineSet> SimboStationMLEngineList = new List<SimboStationMLEngineSet>();
public void Init()
{
//InitialQueue();
InitialHalconTools();
InitialSimboMLEnginesAsync();
// ImageSaveHelper.OnImageSaveExceptionRaised -= ImageSaveHelper_OnImageSaveExceptionRaised;
// ImageSaveHelper.OnImageSaveExceptionRaised += ImageSaveHelper_OnImageSaveExceptionRaised;
// base.Init();
}
//private void ImageSaveHelper_OnImageSaveExceptionRaised(DateTime dt, string msg)
//{
// LogAsync(new LogMsg(dt, LogLevel.Error, msg));
//}
public override DetectStationResult RunInference(Mat originImgSet, string detectionId = null)
{
DetectStationResult detectResult = new DetectStationResult();
DetectionConfig detectConfig = null;
//找到对应的配置
if (!string.IsNullOrWhiteSpace(detectionId))
{
detectConfig = DetectionConfigs.FirstOrDefault(u => u.Id == detectionId);
}
else
{
//detectConfig = DetectionConfigs.FirstOrDefault(u => u.CameraSourceId == camera.CameraName);
}
if (detectConfig == null)
{
//未能获得检测配置
return detectResult;
}
#region 1.预处理
using (Mat PreTMat = originImgSet.Clone())
{
PreTreated(detectConfig, detectResult, PreTMat);
}
#endregion
if (detectResult.IsPreTreatNG)
{
detectResult.ResultState = ResultState.DetectNG;
detectResult.IsPreTreatDone = true;
detectResult.IsMLDetectDone = false;
return detectResult;
}
if (!string.IsNullOrWhiteSpace(detectConfig.ModelPath) && detectConfig.IsEnabled)
{
SimboStationMLEngineSet mlSet = null;
mlSet = SimboStationMLEngineList.FirstOrDefault(t => t.DetectionId == detectConfig.Id);
if (mlSet == null)
{
// LogAsync(DateTime.Now, LogLevel.Exception, $"异常：{detectConfig.Name}未能获取对应配置的模型检测工具");
detectResult.IsMLDetectDone = false;
//HandleDetectDone(detectResult, detectConfig);
return detectResult;
}
#region 2.深度学习推理
//LogAsync(DateTime.Now, LogLevel.Information, $"{detectConfig.Name} 产品{detectResult.TempPid} 模型检测执行");
if (!string.IsNullOrWhiteSpace(detectConfig.ModelPath))
{
Stopwatch mlWatch = new Stopwatch();
var req = new MLRequest();
//之前的检测图片都是相机存储成HImage
req.ResizeWidth = (int)detectConfig.ModelWidth;
req.ResizeHeight = (int)detectConfig.ModelHeight;
// req.LabelNames = detectConfig.GetLabelNames();
// req.Score = IIConfig.Score;
req.mImage = originImgSet.Clone();
req.in_lable_path = detectConfig.in_lable_path;
req.confThreshold = detectConfig.ModelconfThreshold;
req.iouThreshold = 0.3f;
req.segmentWidth = 320;
req.out_node_name = "output0";
switch (detectConfig.ModelType)
{
case MLModelType.ImageClassification:
break;
case MLModelType.ObjectDetection:
break;
case MLModelType.SemanticSegmentation:
break;
case MLModelType.InstanceSegmentation:
break;
case MLModelType.ObjectGPUDetection:
break;
default:
break;
}
// LogAsync(DateTime.Now, LogLevel.Information, $"{detectConfig.Name} 产品{detectResult.TempPid} RunInference BEGIN");
mlWatch.Start();
//20230802改成多线程推理 RunInferenceFixed
var result = mlSet.StationMLEngine.RunInference(req);
// var result = mlSet.StationMLEngine.RunInferenceFixed(req);
mlWatch.Stop();
// LogAsync(DateTime.Now, LogLevel.Information, $"{detectConfig.Name} 产品{detectResult.TempPid} RunInference END");
// var req = new MLRequest();
//req.mImage = inferenceImage;
//req.ResizeWidth = detectConfig.ModelWidth;
//req.ResizeHeight = detectConfig.ModelHeight;
//req.confThreshold = detectConfig.ModelconfThreshold;
//req.iouThreshold = 0.3f;
//req.out_node_name = "output0";
//req.in_lable_path = detectConfig.in_lable_path;
//Stopwatch sw = Stopwatch.StartNew();
//var result = Dectection[detectionId].RunInference(req);
//sw.Stop();
//LogAsync(DateTime.Now, LogLevel.Information, $"{camera.Name} 推理进度1.1，产品{productNumber}，耗时{sw.ElapsedMilliseconds}ms");
//this.BeginInvoke(new MethodInvoker(delegate ()
//{
// // pictureBox1.Image?.Dispose(); // 释放旧图像
// // pictureBox1.Image = result.ResultMap;
// richTextBox1.AppendText($"推理成功 {productNumber}, {result.IsSuccess}相机名字{camera.CameraName} 耗时 {mlWatch.ElapsedMilliseconds}ms\n");
//}));
//req.mImage?.Dispose();
if (result == null || (result != null && !result.IsSuccess))
{
detectResult.IsMLDetectDone = false;
}
if (result != null && result.IsSuccess)
{
detectResult.DetectDetails = result.ResultDetails;
if (detectResult.DetectDetails != null)
{
}
else
{
detectResult.IsMLDetectDone = false;
}
}
}
#endregion
#region 3.后处理
#endregion
//根据那些得分大于阈值的推理结果，判断产品是否成功
#region 4.最终过滤（逻辑过滤）
detectResult.DetectDetails?.ForEach(d =>
{
//当前检测项的 过滤条件
//var conditionList = detectConfig.DetectionFilterList
// .Where(u => u.IsEnabled && u.LabelName == d.LabelName)
// .GroupBy(u => u.ResultState)
// .OrderBy(u => u.Key)
// .ToList();
//当前检测项的 过滤条件
var conditionList = detectConfig.DetectionFilterList
.Where(u => u.IsEnabled && u.LabelName == d.LabelName)
.GroupBy(u => u.ResultState)
.OrderBy(u => u.Key)
.ToList();
if (conditionList.Count == 0)
{
d.FinalResult = d.LabelName.ToLower() == "ok"
? ResultState.OK
: ResultState.DetectNG;
}
else
{
d.FinalResult = detectConfig.IsMixModel
? ResultState.A_NG
: ResultState.OK;
}
foreach (IGrouping<ResultState, DetectionFilter> group in conditionList)
{
//bool b = group.ToList().Any(f =>
//{
// return f.FilterOperation(d);
//});
//if (b)
//{
// d.FinalResult = group.Key;
// break;
//}
if (group.Any(f => f.FilterOperation(d)))
{
d.FinalResult = group.Key;
break;
}
//else
//{
// d.FinalResult = d.InferenceResult = ResultState.OK;
//}
}
});
#endregion
#region 5.统计缺陷过滤结果或预处理直接NG
//if (detectResult.DetectDetails?.Count > 0)
//{
// detectResult.ResultState = detectResult.DetectDetails.GroupBy(u => u.FinalResult).OrderBy(u => u.Key).First().First().FinalResult;
// detectResult.ResultLabel = detectResult.ResultLabel;
// detectResult.ResultLabelCategoryId = detectResult.ResultLabel;//TODO:设置优先级
//}
detectResult.ResultState = detectResult.DetectDetails?
.GroupBy(u => u.FinalResult)
.OrderBy(u => u.Key)
.FirstOrDefault()?.Key ?? ResultState.OK;
detectResult.ResultLabel = detectResult.ResultLabel;
detectResult.ResultLabelCategoryId = detectResult.ResultLabel;//TODO:设置优先级
#endregion
DisplayDetectionResult(detectResult, originImgSet.Clone(), detectionId);
}
return detectResult;
}
/// <summary>
/// 初始化深度学习工具
/// </summary>
private bool InitialSimboMLEnginesAsync()
{
//深度学习 模型加载
var resultOK = MLLoadModel();
return resultOK;
}
/// <summary>
/// 深度学习 模型加载
/// </summary>
/// <returns></returns>
private bool MLLoadModel()
{
bool resultOK = false;
try
{
// SimboStationMLEngineList = new List<SimboStationMLEngineSet>();
// _cameraRelatedDetectionDict = IConfig.DetectionConfigs.Select(t => t.ModelPath).Distinct().ToList();
DetectionConfigs.ForEach(dc =>
//_cameraRelatedDetectionDict.ForEach(dc =>
{
if (dc.IsEnabled && !string.IsNullOrWhiteSpace(dc.ModelPath))
{
if (dc.IsEnableGPU)
{
//if (IIConfig.IsLockGPU)
//{
//foreach (var validGPU in ValidGPUList2)
//{
// if (validGPU.DetectionIds.Contains(dc.Id))
// {
var engine = SingleMLLoadModel(dc, true, 0);
SimboStationMLEngineList.Add(engine);
// }
//}
//}
//else
//{
// foreach (var validGPU in ValidGPUList)
// {
// //var validGPU = ValidGPUList.FirstOrDefault(u => u.DetectionIds.Contains(dc.Id));
// if (validGPU.DetectionId == dc.Id)
// {
// var engine = SingleMLLoadModel(dc, true, validGPU.GPUNo);
// SimboStationMLEngineList.Add(engine);
// }
// }
//}
}
else
{
//for (int i = 0; i < IConfig.CPUNums; i++)
for (int i = 0; i < 1; i++)
{
//var engine = SingleMLLoadModel(dc, false, i);
var engine = SingleMLLoadModel(dc, false, i);
SimboStationMLEngineList.Add(engine);
}
}
}
});
resultOK = true;
}
catch (Exception ex)
{
// LogAsync(DateTime.Now, LogLevel.Exception, $"异常：模型并发加载异常:{ex.GetExceptionMessage()}");
resultOK = false;
}
return resultOK;
}
/// <summary>
/// 单个模型加载
/// </summary>
/// <param name="dc"></param>
/// <param name="gpuNum"></param>
/// <returns></returns>
private SimboStationMLEngineSet SingleMLLoadModel(DetectionConfig dc, bool isGPU, int coreInx)
{
SimboStationMLEngineSet mLEngineSet = new SimboStationMLEngineSet();
try
{
mLEngineSet.IsUseGPU = isGPU;
if (isGPU)
{
mLEngineSet.GPUNo = coreInx;
}
else
{
mLEngineSet.CPUNo = coreInx;
}
mLEngineSet.DetectionId = dc.Id;
mLEngineSet.DetectionName = dc.Name;
if (!string.IsNullOrWhiteSpace(dc.ModelPath))
{
// 根据算法类型创建不同的实例
switch (dc.ModelType)
{
case MLModelType.ImageClassification:
break;
case MLModelType.ObjectDetection:
mLEngineSet.StationMLEngine = new SimboObjectDetection();
break;
case MLModelType.SemanticSegmentation:
break;
case MLModelType.InstanceSegmentation:
mLEngineSet.StationMLEngine = new SimboInstanceSegmentation();
break;
case MLModelType.ObjectGPUDetection:
mLEngineSet.StationMLEngine = new SimboDetection();
break;
default:
break;
}
MLInit mLInit;
string inferenceDevice = "CPU";
if (dc.IsEnableGPU)
{
inferenceDevice = "GPU";
mLInit = new MLInit(dc.ModelPath, isGPU, coreInx, dc.ModelconfThreshold);
}
else
{
mLInit = new MLInit(dc.ModelPath, "images", inferenceDevice, (int)dc.ModelWidth, (int)dc.ModelHeight);
}
bool isSuccess = mLEngineSet.StationMLEngine.Load(mLInit);
if (!isSuccess)
{
// throw new ProcessException("异常：模型加载异常", null);
}
//LogAsync(DateTime.Now, LogLevel.Information, $"模型加载成功；是否GPU:{isGPU} CoreInx:{coreInx} - {dc.Name}" + $" {dc.ModelType.GetEnumDescription()}:{dc.ModelPath}");
}
}
catch (Exception ex)
{
//throw new ProcessException($"异常：是否GPU:{isGPU} CoreInx:{coreInx} - {dc.Name}模型加载异常：{ex.GetExceptionMessage()}");
}
return mLEngineSet;
}
private void InitialHalconTools()
{
HOperatorSet.SetSystem("parallelize_operators", "true");
HOperatorSet.SetSystem("reentrant", "true");
HOperatorSet.SetSystem("global_mem_cache", "exclusive");
HalconToolDict = new Dictionary<string, HDevEngineTool>();
DetectionConfigs.ForEach(c =>
{
if (!c.IsEnabled)
return;
if (c.HalconAlgorithemPath_Pre != null)
LoadHalconTool(c.HalconAlgorithemPath_Pre);
});
}
private void LoadHalconTool(string path)
{
if (!HalconToolDict.ContainsKey(path))
{
string algorithemPath = path;
if (string.IsNullOrWhiteSpace(algorithemPath))
return;
string directoryPath = Path.GetDirectoryName(algorithemPath);
string fileName = Path.GetFileNameWithoutExtension(algorithemPath);
HDevEngineTool tool = new HDevEngineTool(directoryPath);
tool.LoadProcedure(fileName);
HalconToolDict[path] = tool;
}
}
/// <summary>
/// 预处理
/// </summary>
/// <param name="detectConfig"></param>
/// <param name="detectResult"></param>
public void PreTreated(DetectionConfig detectConfig, DetectStationResult detectResult, Mat MhImage)
{
try
{
// detectResult.VisionImageSet.DetectionOriginImage = detectResult.VisionImageSet.HImage.ConvertHImageToBitmap();
//detectResult.VisionImageSet.PreTreatedBitmap = detectResult.VisionImageSet.HImage.ConvertHImageToBitmap();
//detectResult.VisionImageSet.DetectionResultImage = detectResult.VisionImageSet.PreTreatedBitmap?.CopyBitmap();
if (!string.IsNullOrWhiteSpace(detectConfig.HalconAlgorithemPath_Pre))
{
HObject obj = OpenCVHelper.MatToHImage(MhImage);
HImage hImage = HalconHelper.ConvertHObjectToHImage(obj);
string toolKey = detectConfig.HalconAlgorithemPath_Pre;
if (!HalconToolDict.ContainsKey(toolKey))
{
// LogAsync(DateTime.Now, LogLevel.Exception, $"{detectConfig.Name}未获取预处理算法");
return;
}
//Mean_Thre Deviation_Thre Mean_standard Deviation_standard
var tool = HalconToolDict[toolKey];
////tool.InputTupleDic["Mean_Thre"] = 123;
for (int i = 0; i < detectConfig.PreTreatParams.Count; i++)
{
var param = detectConfig.PreTreatParams[i];
tool.InputTupleDic[param.Name] = double.Parse(param.Value);
}
// tool.InputTupleDic["fCricularity"] = 200;
tool.InputImageDic["INPUT_Image"] = hImage;
if (!tool.RunProcedure(out string errorMsg, out _))
{
// detectResult.PreTreatedFlag = false;
detectResult.IsPreTreatDone = false;
return;
}
var preTreatRet = tool.GetResultTuple("OUTPUT_Flag").I;
//var fRCricularity = tool.GetResultTuple("fRCricularity");
// detectResult.IsPreTreatDone = detectResult.VisionImageSet.PreTreatedFlag = preTreatRet == 1;
//detectResult.IsPreTreatDone = detectResult.VisionImageSet.PreTreatedFlag = true;
// detectResult.VisionImageSet.PreTreatedTime = DateTime.Now;
for (int i = 0; i < detectConfig.OUTPreTreatParams.Count; i++)
{
var param = detectConfig.OUTPreTreatParams[i];
tool.InputTupleDic[param.Name] = double.Parse(param.Value);
}
// 2023/10/16 新增预处理结果反馈，如果预处理结果为NG，直接返回
if (preTreatRet != 0)
{
detectResult.ResultState = ResultState.DetectNG;
detectResult.IsPreTreatNG = true;
// if (detectResult.VisionImageSet.PreTreatedFlag)
{
//detectResult.VisionImageSet.MLImage = tool.GetResultObject("OUTPUT_PreTreatedImage");
//DetectionResultImage
// detectResult.VisionImageSet.DetectionResultImage = detectResult.VisionImageSet.MLImage.ConvertHImageToBitmap();
}
}
else
{
// detectResult.VisionImageSet.DetectionResultImage = detectResult.VisionImageSet.MLImage.ConvertHImageToBitmap();
}
}
}
catch (Exception ex)
{
}
finally
{
//detectResult.VisionImageSet.HImage?.Dispose();
//detectResult.VisionImageSet.HImage = null;
// MhImage?.Dispose();
//MhImage = null;
}
}
/// <summary>
/// 显示检测结果
/// </summary>
/// <param name="detectResult"></param>
private void DisplayDetectionResult(DetectStationResult detectResult,Mat result,string DetectionId)
{
//结果显示上传
Task.Run(() =>
{
try
{
string displayTxt = detectResult.ResultState.ToString() + "\r\n";
if (detectResult.DetectDetails != null && detectResult.DetectDetails?.Count > 0)
{
detectResult.DetectDetails.ForEach(d =>
{
displayTxt +=
$"{d.LabelName} score:{d.Score.ToString("f2")} area:{d.Area.ToString("f2")}\r\n";
});
}
//if (detectResult.realSpecs != null && detectResult.realSpecs?.Count > 0)
//{
// detectResult.realSpecs.ForEach(d =>
// {
// displayTxt +=
// $"{d.Code} :{d.ActualValue} \r\n";
// });
//}
Bitmap resultMask=result.ToBitmap();
//if (detectResult.VisionImageSet.DetectionResultImage == null && detectResult.VisionImageSet.SizeResultImage == null)
//{
// return;
//}
//else if (detectResult.VisionImageSet.DetectionResultImage == null && detectResult.VisionImageSet.SizeResultImage != null)
//{
// detectResult.VisionImageSet.DetectionResultImage = detectResult.VisionImageSet.SizeResultImage.CopyBitmap();
// resultMask = detectResult.VisionImageSet.DetectionResultImage.CopyBitmap();
//}
//else if (detectResult.VisionImageSet.DetectionResultImage != null && detectResult.VisionImageSet.SizeResultImage != null)
//{
// Mat img1 = ConvertBitmapToMat(detectResult.VisionImageSet.SizeResultImage.CopyBitmap()); // 第一张图片，已经带框
// Mat img2 = ConvertBitmapToMat(detectResult.VisionImageSet.DetectionResultImage.CopyBitmap()); // 第二张图片，已经带框
// // 合成两张图像：可以选择叠加或拼接
// Mat resultImg = new Mat();
// Cv2.AddWeighted(img1, 0.5, img2, 0.5, 0, resultImg); // 使用加权平均法合成图像
// resultMask = resultImg.ToBitmap();
//}
//else
//{
// resultMask = detectResult.VisionImageSet.DetectionResultImage.CopyBitmap();
//}
List<IShapeElement> detectionResultShapes =
new List<IShapeElement>(detectResult.DetectionResultShapes);
DetectResultDisplay resultDisplay = new DetectResultDisplay(detectResult, resultMask, displayTxt);
detectionResultShapes.Add(resultDisplay);
List<IShapeElement> detectionResultShapesClone = new List<IShapeElement>(detectionResultShapes);
DetectionDone(DetectionId, resultMask, detectionResultShapes);
//SaveDetectResultImageAsync(detectResult);
// SaveDetectResultCSVAsync(detectResult);
}
catch (Exception ex)
{
// LogAsync(DateTime.Now, LogLevel.Exception,
// $"{Name}显示{detectResult.DetectName}检测结果异常,{ex.GetExceptionMessage()}");
}
finally
{
}
});
}
}
}