using System;
using System.Collections.Generic;
using System.Diagnostics;
using System.Diagnostics.Eventing.Reader;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Runtime.Remoting.Channels;
using System.Security.Cryptography;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Controls;
using System.Windows.Forms;
using System.Media;
using OpenCvSharp;
using OpenCvSharp.Aruco;
namespace TIASshot {
internal abstract class CameraBase {
// インターフェース
public abstract bool Connect();
public abstract void Disconnect();
protected abstract void Shot(int numImages=1, int interval=0);
// プロパティ
public string DeviceName { get; protected set; } = "Unknown";
public string SerialNumber { get; protected set; }
public string ErrorMsg { get; protected set; }
public bool IsCalibrating => _calibrating > 0;
// 派生クラスで使用するメンバ
protected Form1 _form;
protected int _calibrating = 0;
protected bool _calibrated = false;
protected Bitmap[] _bmps = new Bitmap[2];
protected int _bmpIndex = 0;
protected bool _isPreview = false;
protected List<Mat> _chartMasks = new List<Mat>();
protected string _saveFolder = "";
protected List<Mat> _shots = new List<Mat>();
protected Dictionary<string, string> _ShotInfo = new Dictionary<string, string>(); // 設定値保存用
protected Rect _roi;
// プライベートメンバ
readonly Dictionary ARDict = CvAruco.GetPredefinedDictionary(PredefinedDictionaryName.Dict4X4_50);
readonly Point2f[] PointsDst40 = new Point2f[] {
new Point2f(345, 130),new Point2f(465, 130),new Point2f(465, 250),new Point2f(345, 250),
};
readonly Point2f[] PointsDst41 = new Point2f[]{
new Point2f(345, 1200), new Point2f(465, 1200), new Point2f(465, 1320), new Point2f(345, 1320),
};
readonly float UpdateRate;
int _detectionCount = 0;
Point2f _lastPosition = new Point2f(0, 0);
// 色補正処理（TCC 変換行列の計算・色変換）
readonly ColorCorrector _colorCorrector;
/// <summary>
/// カメラの基本クラス
/// </summary>
public CameraBase(Form1 form) {
_form = form;
UpdateRate = Config.GetFloat("Calib/UpdateRate");
var tccSrgb = LoadMatFromCsv(Config.GetString("File/TccSrgbRef"));
var tccXyz = LoadMatFromCsv(Config.GetString("File/TccXyzRef"));
_colorCorrector = new ColorCorrector(tccSrgb, tccXyz);
}
/// <summary>
/// 起動チェック
/// </summary>
/// <returns></returns>
protected bool BootCheck() {
if (!Config.IsLoaded()) {
ErrorMsg = "設定ファイル（Config.xml）の読み込みに失敗しました．\r\n終了します．";
return false;
}
if (!_colorCorrector.SrgbRefLoaded) {
ErrorMsg = $"ファイル（{Config.GetString("File/TccSrgbRef")}）の読み込みに失敗しました．\r\n終了します．";
return false;
}
if (!_colorCorrector.XyzRefLoaded) {
ErrorMsg = $"ファイル（{Config.GetString("File/TccXyzRef")}）の読み込みに失敗しました．\r\n終了します．";
return false;
}
return true;
}
/// <summary>
/// 画像撮影１枚
/// </summary>
public void ShotOne() {
SetSaveFolder(_form.GetDataName());
SetInfo("データ名", _form.GetDataName());
SetInfo("撮影枚数", "1");
Shot();
EventSound(Config.GetString("Sound/OneShotDone"));
_form.ShowMessage("撮影終了");
}
/// <summary>
/// 複数画像撮影
/// </summary>
public void ShotMulti() {
SetSaveFolder(_form.GetDataName());
SetInfo("データ名", _form.GetDataName());
SetInfo("撮影枚数", $"{_form.GetNumMultiShots()}");
SetInfo("撮影間隔(ms)", $"{_form.GetMultiShotsInterval()}");
Shot(_form.GetNumMultiShots(), _form.GetMultiShotsInterval());
EventSound(Config.GetString("Sound/MultiShotDone"));
_form.ShowMessage("撮影終了");
}
/// <summary>
/// 画像保存処理
/// </summary>
/// <param name="img"></param>
/// <param name="idx"></param>
protected void SaveImages(Mat img, int idx) {
var filename = Config.GetString("File/RgbImage");
filename = filename.Replace("{NO}", $"{idx + 1:0000}");
Cv2.ImWrite(Path.Combine(_saveFolder, filename), img);
foreach (var channel in _colorCorrector.Channels) {
using (var converted = _colorCorrector.ConvertImage(img, channel)) {
filename = GetFilenameWithChannel("File/SrgbImage", channel);
filename = filename.Replace("{NO}", $"{idx + 1:0000}");
Cv2.ImWrite(Path.Combine(_saveFolder, filename), converted);
}
}
}
/// <summary>
/// 画像保存スレッド処理
/// </summary>
/// <param name="numImages"></param>
protected void SaveThread(int numImages) {
int saveCount = 0;
while (saveCount < numImages) {
while(_shots.Count <= saveCount) {
Thread.Sleep(1);
}
SaveImages(_shots[saveCount], saveCount);
saveCount++;
_form.ShowMessage($"画像{saveCount}/{numImages}枚目保存");
}
_form.ShowMessage("全ての画像保存完了");
_form.EnableShots(true);
}
/// <summary>
/// チャートの検出
/// </summary>
/// <param name="img"></param>
protected void DetectChart(Mat img) {
// ARマーカー検出
CvAruco.DetectMarkers(img, ARDict, out var corners, out var ids,
new DetectorParameters(), out var rejectedImgPoints);
if (ids.Length < 1) return;
// マーカー座標格納
var ptsPict = new List<Point2f>();
var ptsModel = new List<Point2f>();
Point2f position = new Point2f();
float y40 = 0, y41 = 0;
for (int i = 0; i < ids.Length; i++) {
if (ids[i] == 40) {
ptsPict.AddRange(corners[i]);
ptsModel.AddRange(PointsDst40);
position = corners[i][3];
y40 = corners[i][3].Y;
}
if (ids[i] == 41) {
ptsPict.AddRange(corners[i]);
ptsModel.AddRange(PointsDst41);
y41 = corners[i][3].Y;
}
}
if (ptsPict.Count < 8) return;
if (y40 > y41) {
_form.ShowMessage("舌診チャートが上下逆方向です");
return;
}
// チャートの固定判定
_form.ShowMessage("舌診チャートの検出中");
var dist = (float)position.DistanceTo(_lastPosition);
if (dist < Config.GetFloat("Calib/ChartSetCriteria")) {
_detectionCount++;
} else {
_detectionCount = 0;
}
_lastPosition = position;
if (_detectionCount < Config.GetInt("Calib/ChartSetCount")) return;
// ホモグラフィの計算
var matPtsPict = Mat.FromArray(ptsPict);
var matPtsModel = Mat.FromArray(ptsModel);
var matH = Cv2.FindHomography(matPtsModel, matPtsPict);
var imgF = new Mat(1545, 810, MatType.CV_8UC3);
Cv2.WarpPerspective(img, imgF, matH, imgF.Size());
// チャートマスク作成
_chartMasks.Clear();
var roiSize = ptsPict.Count < 8 ? 60 : 80;
for (int i = 0; i < 24; i++) {
var row = i % 6;
var col = i / 6;
var x = 581 - col * 144 + (ptsPict.Count < 8 ? 10 : 0);
var y = 318 + row * 144 + (ptsPict.Count < 8 ? 10 : 0);
var roi = new Rect(x, y, roiSize, roiSize);
using (var mask = new Mat(1545, 810, MatType.CV_8U)) {
Cv2.Rectangle(mask, roi, new Scalar(255), Cv2.FILLED);
var maskF = new Mat(img.Size(), MatType.CV_8U);
Cv2.WarpPerspective(mask, maskF, matH, maskF.Size());
_chartMasks.Add(maskF);
}
}
_form.ShowMessage("舌診チャート検出 校正中");
_calibrating = Config.GetInt("Calib/Frames");
}
/// <summary>
/// ファイル名にチャネル数を追加する
/// </summary>
/// <param name="config"></param>
/// <param name="channel"></param>
/// <returns></returns>
private string GetFilenameWithChannel(string config, int channel) {
var filename = Config.GetString(config);
filename = filename.Replace("{CN}", $"{channel:00}");
return filename;
}
/// <summary>
/// チャートに基づく変換行列の計算
/// </summary>
/// <param name="img"></param>
protected void CalcTcc(Mat img) {
// 変換行列の計算
var tccRgb = GetTccRgb(img);
var imgRois = GetTccRoisImage(img);
// データ保存
SetSaveFolder("校正");
SetInfo("校正データ", _saveFolder);
Cv2.ImWrite(Path.Combine(_saveFolder, Config.GetString("File/TccImage")), img);
Cv2.ImWrite(Path.Combine(_saveFolder, Config.GetString("File/TccRoisImage")), imgRois);
// 変換行列の計算・保存は ColorCorrector に委譲する
_colorCorrector.CalcTcc(tccRgb, _saveFolder, SaveMatToCsv);
EventSound(Config.GetString("Sound/CalibDone"));
_form.ShowMessage("自動校正完了");
_form.EnableShots();
_calibrated = true;
}
/// <summary>
/// 画像からチャートのRGB値算出
/// </summary>
/// <param name="img"></param>
/// <returns></returns>
private Mat GetTccRgb(Mat img) {
var arrRGB = new Mat(24, 3, MatType.CV_64FC1);
for (int i = 0; i < _chartMasks.Count; i++) {
var rgb = Cv2.Mean(img, _chartMasks[i]);
arrRGB.At<double>(i, 0) = rgb.Val0; // Blue
arrRGB.At<double>(i, 1) = rgb.Val1; // Green
arrRGB.At<double>(i, 2) = rgb.Val2; // Red
}
return arrRGB;
}
/// <summary>
/// TCCのROI画像を取得
/// </summary>
/// <param name="img"></param>
/// <returns></returns>
private Mat GetTccRoisImage(Mat img) {
var imgRois = img.Clone();
for (int i = 0; i < _chartMasks.Count; i++) {
imgRois.SetTo(new Scalar(0, 200, 0), _chartMasks[i]);
}
return imgRois;
}
/// <summary>
/// ゲイン値の更新比率計算
/// </summary>
/// <param name="value"></param>
/// <returns></returns>
protected float GetRatio(float value, float target) {
float ratio = target / value;
ratio = (ratio - 1.0f) * (value == 255.0f ? 1.0f : UpdateRate) + 1.0f;
return ratio;
}
/// <summary>
/// csvファイルからMatを読み込む
/// </summary>
/// <param name="csvFile"></param>
/// <returns></returns>
/// <exception cref="Exception"></exception>
private Mat LoadMatFromCsv(string csvFile) {
try {
var arr = new List<double[]>();
int cols = -1;
using (var reader = new StreamReader(csvFile)) {
while (!reader.EndOfStream) {
var line = reader.ReadLine();
var valStrs = line.Split(',');
if (cols == -1) cols = valStrs.Length;
else if (cols != valStrs.Length) throw new Exception("cols != valStrs.Length");
var vals = valStrs.Select(x => double.Parse(x)).ToArray();
arr.Add(vals);
}
}
var m = new Mat(arr.Count, cols, MatType.CV_64FC1);
for (var row = 0; row < arr.Count; row++) {
for (var col = 0; col < cols; col++) {
m.At<double>(row, col) = arr[row][col];
}
}
return m;
} catch (Exception) {
return null;
}
}
/// <summary>
/// Matをcsvファイルに保存
/// </summary>
/// <param name="m"></param>
/// <param name="csvFile"></param>
private void SaveMatToCsv(string csvFile, Mat m) {
using (var writer = new StreamWriter(csvFile)) {
for (var row = 0; row < m.Rows; row++) {
var line = "";
for (var col = 0; col < m.Cols; col++) {
if (col > 0) line += ",";
line += $"{m.At<double>(row, col):0.0000000}";
}
writer.WriteLine(line);
}
}
}
/// <summary>
/// 保存フォルダの取得
/// </summary>
/// <param name="isSeries"></param>
/// <returns></returns>
protected void SetSaveFolder(string note) {
var dt = DateTime.Now;
var paths = new List<string>() {
Config.GetString("File/SaveFolder"),
dt.ToString("yyyy-MM-dd"),
dt.ToString("HH_mm_ss") + $"-{note}",
};
_saveFolder = Path.Combine(paths.ToArray());
Directory.CreateDirectory(_saveFolder);
}
/// <summary>
/// 設定値を保存する
/// </summary>
/// <param name="key"></param>
/// <param name="value"></param>
protected void SetInfo(string key, string value) {
if (_ShotInfo.ContainsKey(key)) {
_ShotInfo[key] = value;
} else {
_ShotInfo.Add(key, value);
}
}
/// <summary>
/// 設定値をCSVファイルに書き込む
/// </summary>
/// <param name="sw"></param>
protected void WriteInfo(StreamWriter sw) {
sw.WriteLine($"撮影日時,{DateTime.Now:yyyy/MM/dd HH:mm:ss}"); // 撮影日時を追加
foreach (var kvp in _ShotInfo) {
sw.WriteLine($"{kvp.Key},{kvp.Value}");
}
}
private void EventSound(string wavfile) {
if (!File.Exists(wavfile)) {
Debug.WriteLine($"音声ファイルが見つかりません: {wavfile}");
return;
}
try {
using (var player = new SoundPlayer(wavfile)) {
player.Play();
}
} catch (Exception ex) {
Debug.WriteLine($"音声再生に失敗しました: {ex.Message}");
}
}
}
}
