admin/HawkeyeVision
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

long candy ready to test

Browse Source
This commit is contained in:
meelstorm
2025-09-05 11:11:23 +02:00
parent d52c844b5d
commit e5746ef766
39 changed files with 904 additions and 168 deletions
Download Patch File Download Diff File Expand all files Collapse all files

98
Hawkeye.VisionBuilder.UI.Sources.Hawkeye/HawkeyeCameraImageSource.cs
View File

@@ -3,6 +3,7 @@ using OpenCvSharp;
using Serilog;
using System.Net;
using System.Runtime.InteropServices;
using Newtonsoft.Json;
using VisionBuilder.UI.Common;
using VisionBuilder.UI.Common.RecipeProcessing;
using CameraSettings = Inspectron.HawkEye.Protocol.CameraSettings;
@@ -28,31 +29,54 @@ namespace Hawkeye.VisionBuilder.UI.Sources.Hawkeye
IPAddress.Parse(_settings.Adapter));
_client.ImageReceived += _client_ImageReceived;
_client.SettingsReceived += _client_SettingsReceived;
_client.CalibrationReceived += _client_CalibrationReceived;
_client.SupportsCalibration = _settings.IsColor;
_client.Connect();
Log.Information("Connected to Hawkeye camera at {Adapter}", _settings.Adapter, 27001);
}
private void _client_CalibrationReceived(List<Dictionary<double, double>> obj)
{
Log.Information("Calibtating...");
_bayerFilter = new OpenCVBayerProcessor();
_bayerFilter.SetCalibration(obj);
}
private void _client_SettingsReceived(CameraSettings obj)
{
ApplySettings(obj);
}
public void ApplySettings(CameraSettings obj)
{
_cameraSettings = UICameraSettings.LoadSettingsLocal(_settings.SettingsFile).ToCameraSettings();
_client.ApplySettings(_cameraSettings);
_cameraSettings= obj;
if (File.Exists(_settings?.SettingsFile))
{
_cameraSettings = UICameraSettings.LoadSettingsLocal(_settings.SettingsFile).ToCameraSettings();
_client.ApplySettings(_cameraSettings);
}
}
public Task<Mat> GetImage(CancellationToken token)
{
_lastImage = null;
if (_imageAquisitionTaskSource != null && !_imageAquisitionTaskSource.Task.IsCanceled)
if (_imageAquisitionTaskSource != null && !_imageAquisitionTaskSource.Task.IsCanceled && !_imageAquisitionTaskSource.Task.IsCompleted)
{
_imageAquisitionTaskSource.SetCanceled(CancellationToken.None);
_imageAquisitionTaskSource = null;
}
_imageAquisitionTaskSource= new TaskCompletionSource<Mat>();
if (token.CanBeCanceled)
{
token.Register(() =>
{
_imageAquisitionTaskSource.TrySetCanceled(token);
});
}
_client.Trigger();
return _imageAquisitionTaskSource.Task;
@@ -61,31 +85,52 @@ namespace Hawkeye.VisionBuilder.UI.Sources.Hawkeye
private TaskCompletionSource<Mat>? _imageAquisitionTaskSource;
private Mat _lastImage;
byte[] _flipBuffer = new byte[2000 * 2000];
private OpenCVBayerProcessor _bayerFilter;
private void _client_ImageReceived(byte[] obj)
{
Log.Debug("Got image on {adapter}", _settings.Adapter);
FlipLines(obj, _flipBuffer);
obj = _flipBuffer;
var pinnedArray = GCHandle.Alloc(obj, GCHandleType.Pinned);
var pointer = pinnedArray.AddrOfPinnedObject();
Mat image = new Mat(_cameraSettings.ImageSettings.Lines, _cameraSettings.ImageSettings.SensorWidth,
MatType.CV_8UC1, pointer);
var xCrop = _cameraSettings.ImageSettings.SensorWidth - _cameraSettings.ImageWidth - _cameraSettings.OffsetX;
// crop the image with opencv
_lastImage = image[0, _cameraSettings.ImageSettings.Lines, xCrop,
xCrop + _cameraSettings.ImageWidth].Clone();
if (_cameraSettings.BayerFilter)
try
{
_lastImage = BayerFilter(_lastImage);
Log.Debug("Got image on {adapter}", _settings.Adapter);
//FlipLines(obj, _flipBuffer);
var pinnedArray = GCHandle.Alloc(obj, GCHandleType.Pinned);
var pointer = pinnedArray.AddrOfPinnedObject();
Mat image = new Mat(_cameraSettings.ImageSettings.Lines, _cameraSettings.ImageSettings.SensorWidth,
MatType.CV_8UC1, pointer);
var xCrop = _cameraSettings.ImageSettings.SensorWidth - _cameraSettings.ImageWidth -
_cameraSettings.OffsetX;
// crop the image with opencv
_lastImage = image[0, _cameraSettings.ImageSettings.Lines, xCrop,
xCrop + _cameraSettings.ImageWidth].Clone();
if (_cameraSettings.BayerFilter)
{
_lastImage = _bayerFilter.ProcessBayerImageWithChannelControl(_lastImage);
}
// rotate 90 degrees CCW
Cv2.Rotate(_lastImage, _lastImage, RotateFlags.Rotate90Counterclockwise);
//_lastImage = _lastImage.CvtColor(ColorConversionCodes.BGR2RGB);
_imageAquisitionTaskSource!.SetResult(_lastImage);
pinnedArray.Free();
}
catch (Exception ex)
{
Log.Error(ex, "Error processing image from Hawkeye camera at {Adapter}", _settings.Adapter);
}
_imageAquisitionTaskSource!.SetResult(_lastImage);
pinnedArray.Free();
}
Mat BayerFilter(Mat image)
@@ -96,8 +141,7 @@ namespace Hawkeye.VisionBuilder.UI.Sources.Hawkeye
throw new ArgumentException("Input image is null or empty.", nameof(image));
Mat bgrImage = new Mat();
// Use OpenCV's demosaicing function for Bayer BG pattern
Cv2.CvtColor(image, bgrImage, ColorConversionCodes.BayerBG2BGR);
Cv2.CvtColor(image, bgrImage, ColorConversionCodes.BayerRG2BGR);
return bgrImage;
}
@@ -127,7 +171,7 @@ namespace Hawkeye.VisionBuilder.UI.Sources.Hawkeye
public void InitializeModule()
{
Open();
}
}
}