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添加 MX-PD-盘古 项目文件

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将 MX-PD-盘古 - new 目录下的所有文件添加到主仓库
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Shi.Ji
2026-05-18 11:43:09 +08:00
parent 03632a379d
commit e31d3560bb
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173
MX-PD-盘古 - new/PanGu.DieBonderApp/MainShell/Motion/ApproachAlignment/CenterRecognizer.cs Normal file
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using MainShell.Common;
using MainShell.Log;
using MainShell.Vision;
using System;
using System.Threading;
using System.Threading.Tasks;
using System.Windows;
namespace MainShell.Motion
{
/// <summary>
/// 中心识别实现
/// 通过模板匹配服务识别目标中心
/// </summary>
public class CenterRecognizer : ICenterRecognizer
{
private readonly IFindTemplateService _findTemplateService;
private readonly IFindEdgeCircleService _findEdgeCircleService;
public CenterRecognizer(
IFindTemplateService findTemplateService,
IFindEdgeCircleService findEdgeCircleService)
{
_findTemplateService = findTemplateService ?? throw new ArgumentNullException(nameof(findTemplateService));
_findEdgeCircleService = findEdgeCircleService ?? throw new ArgumentNullException(nameof(findEdgeCircleService));
}
/// <summary>
/// 识别图像中心坐标
/// </summary>
public Task<(double CenterX, double CenterY)?> RecognizeCenterAsync(
CameraType camera,
int timeoutMilliseconds,
CancellationToken cancellationToken)
{
return RecognizeCenterAsync(
camera,
timeoutMilliseconds,
new CenterRecognitionParameters(),
cancellationToken);
}
/// <summary>
/// 识别图像中心坐标
/// </summary>
public async Task<(double CenterX, double CenterY)?> RecognizeCenterAsync(
CameraType camera,
int timeoutMilliseconds,
CenterRecognitionParameters parameters,
CancellationToken cancellationToken)
{
if (parameters == null)
{
throw new ArgumentNullException(nameof(parameters));
}
try
{
using (CancellationTokenSource cts = new CancellationTokenSource(timeoutMilliseconds))
using (CancellationTokenSource linkedCts = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken, cts.Token))
{
string.Format(
"CenterRecognizer: Starting template recognition from camera '{0}' (timeout={1}ms, template='{2}', minScore={3}).",
camera,
timeoutMilliseconds,
parameters.TemplatePath,
parameters.MinScore).LogInfo();
VisionProcessResult result = null;
double centerX = 0;
double centerY = 0;
switch (parameters.Type)
{
case CenterRecognitionType.Template:
{
FindTemplateRequest request = BuildFindTemplateRequest(camera, timeoutMilliseconds,parameters);
var templateResult = await _findTemplateService.ProcessAsync(request,linkedCts.Token).ConfigureAwait(false);
if (templateResult.Succeeded && templateResult.Data != null)
{
centerX = templateResult.Data.CenterX;
centerY = templateResult.Data.CenterY;
}
else
{
string.Format(
"CenterRecognizer: Template recognition failed for camera '{0}': {1}",
camera,
templateResult.Message).LogSysError();
return null;
}
break;
}
case CenterRecognitionType.EdgeCircle:
{
FindEdgeCircleRequest request = BuildFindEdgeCircleRequest(camera,timeoutMilliseconds, parameters);
var circleResult = await _findEdgeCircleService.ProcessAsync(request,linkedCts.Token).ConfigureAwait(false);
if (circleResult.Succeeded && circleResult.Data != null)
{
centerX = circleResult.Data.CenterX;
centerY = circleResult.Data.CenterY;
}
else
{
string.Format(
"CenterRecognizer: Edge circle recognition failed for camera '{0}': {1}",
camera,
circleResult.Message).LogSysError();
return null;
}
break;
}
}
string.Format(
"CenterRecognizer: Recognition completed: X={0:F4}, Y={1:F4}",
centerX,
centerY).LogInfo();
return (centerX, centerY);
}
}
catch (OperationCanceledException)
{
string.Format(
"CenterRecognizer: Template recognition timed out for camera '{0}'.",
camera).LogSysError();
return null;
}
catch (Exception ex)
{
string.Format(
"CenterRecognizer: Template recognition failed for camera '{0}': {1}",
camera,
ex.Message).LogSysError();
return null;
}
}
private static FindTemplateRequest BuildFindTemplateRequest(
CameraType camera,
int timeoutMilliseconds,
CenterRecognitionParameters parameters)
{
FindTemplateParameters findTemplateParameters = new FindTemplateParameters();
findTemplateParameters.MinScore = parameters.MinScore;
findTemplateParameters.TemplatePath = parameters.TemplatePath;
findTemplateParameters.UseRoi = parameters.UseRoi;
findTemplateParameters.RoiName = parameters.RoiName;
FindTemplateRequest request = new FindTemplateRequest();
request.CameraSource = camera;
request.CaptureOptions = CameraCaptureOptions.CreateStream(timeoutMilliseconds);
request.Parameters = findTemplateParameters;
request.TimeoutMilliseconds = timeoutMilliseconds;
return request;
}
private static FindEdgeCircleRequest BuildFindEdgeCircleRequest(
CameraType camera,
int timeoutMilliseconds,
CenterRecognitionParameters parameters)
{
FindEdgeCircleParameters findEdgeCircleParameters = new FindEdgeCircleParameters();
findEdgeCircleParameters.RoiRect = parameters.rectangle;
FindEdgeCircleRequest request = new FindEdgeCircleRequest();
request.CameraSource = camera;
request.CaptureOptions = CameraCaptureOptions.CreateStream(timeoutMilliseconds);
request.Parameters = findEdgeCircleParameters;
request.TimeoutMilliseconds = timeoutMilliseconds;
return request;
}
}
}