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